CN109984684B

CN109984684B - Cleaning control method, cleaning control device, cleaning robot and storage medium

Info

Publication number: CN109984684B
Application number: CN201910288354.3A
Authority: CN
Inventors: 吴一昊; 周敬威; 赵涂昊
Original assignee: Narwel Intelligent Technology Dongguan Co ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2019-04-11
Filing date: 2019-04-11
Publication date: 2021-04-27
Anticipated expiration: 2039-04-11
Also published as: GB2597399B; AU2020256598A1; GB202115679D0; WO2020207391A1; JP2022528554A; CA3136649A1; JP7269368B2; AU2020256598B2; US20220022718A1; KR20210151853A; EP3949820A4; GB2597399A; EP3949820A1; CN109984684A

Abstract

The application discloses a cleaning control method and device, a cleaning robot and a storage medium, and relates to the technical field of intelligent equipment. According to the cleaning control method provided by the embodiment of the application, the cleaning robot acquires a map of a space to be cleaned as a first space map, divides the space to be cleaned into at least one cleaning area based on the first space map, sets a cleaning sequence for the cleaning area, and sequentially performs cleaning operation on the cleaning area of the space to be cleaned according to the cleaning sequence by taking the cleaning area as a unit. When the cleaning robot performs cleaning operation, the cleaning operation is performed on the cleaning area of the space to be cleaned according to the cleaning sequence, so that the cleaning area which is cleaned can be prevented from being polluted when the cleaning robot moves to the area where the base station is located to charge or clean the cleaning piece, the cleaning effect is enhanced, and the cleaning efficiency is improved.

Description

Cleaning control method, cleaning control device, cleaning robot and storage medium

Technical Field

The application relates to the technical field of intelligent equipment. And more particularly, to a cleaning control method, apparatus, cleaning robot, and storage medium.

Background

With the rapid development of intelligent equipment technology, cleaning robots with automatic cleaning functions are increasingly popular; and with the acceleration of the life rhythm of people, the role played by the cleaning robot in family life is more and more important. The cleaning robot can automatically perform a cleaning operation in a waiting cleaning space of a home space or a large-sized place to clean the space to be cleaned, thereby saving a large amount of cleaning time for a user.

Taking a space to be cleaned as a home space as an example for explanation, when an existing cleaning robot cleans the home space, the cleaning robot starts cleaning from a current position, and the specific cleaning mode of the cleaning robot is as follows: the cleaning robot searches a first cleaning area in peripheral uncleaned areas by taking a fixed-size area as a unit, referring to fig. 1, the size of the first cleaning area is 5m × 5m, then the first cleaning area is cleaned according to an arc-shaped track, after the first cleaning area is cleaned, a second cleaning area in the uncleaned area with the nearest distance is continuously searched according to the area size of 5m × 5m, then the second cleaning area is continuously cleaned, and the like, the cleaning robot divides the home space into a plurality of cleaning areas with the same size, and cleaning operation is sequentially performed on the plurality of cleaning areas by taking the cleaning area as a unit. When the cleaning robot has insufficient power or needs to clean the cleaning members included in the cleaning robot, the cleaning robot moves to the area where the base station of the cleaning robot is located through the entrance and exit to be charged or cleaned, and then returns to the cleaning area being cleaned to continue the cleaning operation.

When the cleaning robot has cleaned a cleaning area including an entrance, the cleaned cleaning area including the entrance is easily contaminated when repeatedly moving to an area where a base station is located through the entrance for charging or cleaning, resulting in poor cleaning effect and low cleaning efficiency.

Disclosure of Invention

The embodiment of the application provides a cleaning control method and device, a cleaning robot and a storage medium, which can solve the problem that the cleaning robot passes through a cleaned cleaning area comprising an entrance and an exit and pollutes the cleaned cleaning area comprising the entrance and the exit in the cleaning operation process. The technical scheme is as follows:

in one aspect, a cleaning control method is provided, which is applied to a cleaning robot for cleaning an unknown space to be cleaned, the cleaning robot is used with a base station, the base station is a cleaning device used by the cleaning robot, the space to be cleaned is provided with an entrance, and the cleaning control method includes:

step S1: acquiring a map of a space to be cleaned as a first space map, wherein the first space map is used for representing the space to be cleaned or a subspace to be cleaned in the space to be cleaned, and the subspace to be cleaned is an uncleaned area in the space to be cleaned;

step S2: dividing the space to be cleaned into at least one cleaning area based on the first space map, wherein an access is arranged between two adjacent and communicated cleaning areas;

step S3: setting a cleaning sequence for the cleaning regions, the cleaning sequence satisfying that no other cleaned cleaning regions are allowed to pass in a path from the entrance of any one cleaning region to the reference in the cleaning sequence;

Step S4: and sequentially performing a cleaning operation on the cleaning regions of the space to be cleaned in the cleaning order in units of the cleaning regions.

In one possible implementation, before the step S2, the method further includes:

step S5: judging the first space map, and when the first space map is in a rule, taking the space to be cleaned or the subspace to be cleaned as a cleaning area, and executing step S6: setting a cleaning direction and a cleaning starting point for the cleaning area, performing a cleaning operation for the cleaning area of the space to be cleaned, otherwise performing step S2, the first space map rule being defined as: at least one path exists from any point in the first space map to the reference object, the moving path in the path without the direction opposite to the reference direction is satisfied, the reference object is the base station or the entrance, the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and a connecting line area between the point and the reference object does not pass through an obstacle.

In another possible implementation manner, the step S4: a method of sequentially performing a cleaning operation on a cleaning region of the space to be cleaned in the cleaning order in units of the cleaning region, comprising:

Step S41: setting a cleaning direction for the cleaning area, wherein the cleaning direction is the reference direction;

step S42: setting a cleaning starting point for the cleaning area based on the cleaning direction, wherein the cleaning starting point is a point on an edge opposite to the cleaning direction in the edge of the cleaning area;

step S43: and performing a cleaning operation on the cleaning area of the space to be cleaned in the cleaning direction and the cleaning sequence from the cleaning start point in units of the cleaning area.

In another possible implementation manner, before the step S41, the method further includes:

step S7: selecting a cleaning area according to the cleaning sequence, judging an area map of the cleaning area, and performing the step S41 for cleaning when the area map is in a rule, otherwise, performing the step S2 by taking the area map as the first space map and the cleaning area as the space to be cleaned, wherein the area map rule is defined as: at least one path exists from any point in the regional map to the entrance and the exit, and the moving path which does not tend to the direction opposite to the direction of the entrance and the exit in the paths is met.

In another possible implementation manner, the method further includes:

when a cleaning operation is performed on a cleaning area, moving from the cleaning area to a next cleaning area based on a navigation path for moving from the cleaning area to the next cleaning area.

In another possible implementation manner, the step S2: the method for dividing the space to be cleaned into at least one cleaning area comprises the following steps:

and dividing the space to be cleaned according to the room information in the first space map to obtain the at least one cleaning area.

In another possible implementation manner, before the step S2, the method further includes:

setting a right-angle reference coordinate system by taking the reference object as an origin, wherein the right-angle reference coordinate system comprises an X axis and a Y axis, the reference direction is perpendicular to the X axis, and the reference direction is the positive direction of the Y axis;

the step S2: the method for dividing the space to be cleaned into at least one cleaning area based on the first space map comprises the following steps:

step S21: scanning the first space map by a transverse scan line at the position of the reference, the transverse scan line being perpendicular to the reference direction;

if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the Y axis, advancing the transverse scanning line to scan the adjacent and unscanned area along the positive direction of the Y axis;

If the scanned area in the first space map has an adjacent and unscanned area in the Y-axis negative direction, advancing the transverse scanning line along the Y-axis negative direction to scan the adjacent and unscanned area;

step S22: and combining continuous areas scanned in the same direction by taking the position of the segment of the length of the transverse scanning line cut by the first space map and the edge of the first space map as boundary lines, thereby dividing the space to be cleaned into at least one cleaning area.

step S201, scanning the first space map through a longitudinal scanning line at the position of the reference object, wherein the longitudinal scanning line is parallel to the reference direction;

if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the X axis, advancing the longitudinal scanning line to scan the adjacent and unscanned area along the positive direction of the X axis;

If the scanned area in the first space map has an adjacent and unscanned area in the negative direction of the X axis, advancing the longitudinal scanning line along the negative direction of the X axis to scan the adjacent and unscanned area;

step S202: and combining continuous areas scanned in the same direction by taking the position of the longitudinal scanning line with the length of the segmentation of the first space map and the edge of the first space map as boundary lines, thereby dividing the space to be cleaned into at least one cleaning area.

the step S2: dividing the space to be cleaned into at least one cleaning area based on the first space map, including:

step S211: scanning the first space map by a transverse scan line and a longitudinal scan line at the position of the reference object, the transverse scan line being perpendicular to the reference direction, the longitudinal scan line being parallel to the reference direction;

step S212: and combining areas scanned in the same direction by taking the positions of the segments of the lengths of the transverse scanning lines and the longitudinal scanning lines, which are cut by the first space map, and the edge of the first space map as boundary lines, so as to divide the space to be cleaned into at least one cleaning area.

In another possible implementation manner, before the step S3, the method further includes:

when the area of the cleaning area is smaller than a preset value, combining the cleaning area with other adjacent cleaning areas with the area larger than the preset value.

In another possible implementation manner, the method for combining the cleaning region with other adjacent cleaning regions having areas larger than the preset value includes:

merging the cleaning areas to a cleaning area scanned by a scan line advanced in the same direction.

In another possible implementation manner, the step S3: a method of setting a cleaning sequence for the cleaning zone, comprising:

step S301: establishing a region sequence tree based on the cleaning regions, the region sequence tree comprising at least one node, each node representing a cleaning region in the space to be cleaned, a node being connected to at least one node, the nodes comprise a top node, a father node and a child node, the two connected nodes are connected, the node close to the top node is the father node, the node far away from the top node is the child node, a clean area represented by the father node is adjacent to a clean area represented by the child node, or one node of the father node and the child node represents an isolated cleaning area, the other node represents a cleaning area which is closest to the isolated cleaning area, the cleaning area represented by the top node is the cleaning area where the reference object is located, only one path is formed from any node of the regional sequence tree, which is not the top node, to the top node;

Step S302: setting a cleaning order of the plurality of cleaning regions based on the region order tree.

In another possible implementation manner, the step S301: a method of building a zone sequence tree based on the clean zones, comprising:

step S3011: setting a node representing each of the cleaning areas;

step S3012: according to the communication relation between the cleaning areas, when the cleaning areas represented by any two nodes are adjacent, or one node represents an isolated cleaning area and the other node represents a cleaning area closest to the isolated cleaning area, connecting the two nodes to construct a communication graph of the cleaning areas;

step S3013: and establishing the region sequence tree according to the connected graph.

In another possible implementation manner, the step S3013: the method for establishing the region sequence tree according to the connected graph comprises the following steps:

when any node in the connected graph, which is not a top node, has only one path to the top node, the connected graph is used as the region sequence tree;

and when a plurality of paths are formed from the nodes with the non-top nodes in the connected graph to the top nodes, performing ring removal processing on the connected graph to obtain the region sequence tree, wherein the ring is an annular path formed by sequentially connecting at least three nodes, and the ring enables the nodes with the non-top nodes in the connected graph to have the plurality of paths from the top nodes.

In another possible implementation manner, the step S302: a method of setting a cleaning order of the plurality of cleaning regions based on the region order tree, comprising:

step S3021: determining a first target cleaning area based on the area sequence tree;

step S3022: based on the region sequence tree, inquiring a father node of a first target node representing the first target clean region, inquiring whether the father node of the first target node has a child node representing a non-first target clean region, and if not, taking the clean region represented by the father node of the first target node as a second target clean region; if so, taking the cleaning area represented by the bottommost node in the child nodes as a second target cleaning area;

step S3023: inquiring a parent node of a second target node representing the second target clean area based on the area sequence tree, inquiring whether the parent node of the second target node has a child node representing the non-first target clean area and the non-second target clean area, if not, taking the clean area represented by the parent node of the second target node as a third target clean area, and if so, taking the clean area represented by the bottommost node in the child nodes as the third target clean area;

Step S3024: querying the third target cleaning zone in the zone sequence tree until the cleaning zone represented by the top node is set as the last target cleaning zone.

In another possible implementation manner, the step S3021: a method of determining a first target cleaning zone based on the zone sequence tree, comprising:

determining a first cleaning area closest to a current first position of the cleaning robot in the first spatial map;

determining whether leaf nodes exist in a target sub-tree based on the regional sequential tree and taking the first clean region as a starting node, wherein the target sub-tree is a local regional sequential tree in the regional sequential tree and taking the starting node as a top node, and the leaf nodes are nodes with father nodes and no son nodes in the regional sequential tree;

when a leaf node exists in the target subtree, selecting a leaf node from the leaf nodes of the target subtree, and taking a cleaning area represented by the selected leaf node as the first target cleaning area;

when no leaf node exists in the target subtree, the cleaning area represented by the starting node is taken as the first target cleaning area.

In another possible implementation, the cleaning direction of the cleaning region represented by the top node is the same as the reference direction, for any child node of the non-top node in the area order tree, the cleaning direction of the cleaning region represented by the child node points to the cleaning region represented by the parent node of the child node, and the cleaning direction of the cleaning region represented by the child node is parallel or perpendicular to the reference direction.

In another possible implementation manner, in step S42, the method for setting a cleaning start point for the cleaning area includes:

searching out a first uncleaned point closest to a current first position of the cleaning robot in the cleaning area based on the area map; searching for a second uncleaned point of the cleaning area along a direction opposite to the cleaning direction within a preset length range perpendicular to the cleaning direction within the cleaning area, wherein the second uncleaned point is the uncleaned point farthest from the first uncleaned point in the cleaning direction; determining a cleaning start point of the cleaning area based on the second uncleaned point; alternatively, the first and second electrodes may be,

scanning, in a reverse direction of the cleaning direction, within the cleaning area, starting from a current first position of the cleaning robot, in the form of a scan line perpendicular to the cleaning direction, a first uncleaned point within the cleaning area, the first uncleaned point being the uncleaned point farthest from the first position in the cleaning direction, based on the area map; determining a cleaning start point of the cleaning area based on the first uncleaned point; alternatively, the first and second electrodes may be,

Searching for a first uncleaned point of the cleaning area in a direction opposite to the cleaning direction within the cleaning area with an entrance edge of the cleaning area as a start position of the cleaning robot based on the area map, the first uncleaned point being an uncleaned point farthest from the start position of the cleaning area in the cleaning direction; determining a cleaning start point of the cleaning area based on the first uncleaned point; alternatively, the first and second electrodes may be,

searching out a first uncleaned point closest to a current first position of the cleaning robot in the cleaning area based on the area map; determining a cleaning start point of the cleaning area based on the first uncleaned point.

In another possible implementation manner, the method for determining a cleaning starting point of the cleaning area based on the first uncleaned point includes:

taking the first uncleaned point as a cleaning starting point of the cleaning area; alternatively, the first and second electrodes may be,

and when an uncleaned point exists on the edge where the first uncleaned point is located, moving to the end point of the edge, and taking the end point of the edge as the cleaning starting point of the cleaning area.

In another possible implementation manner, the method further includes:

Step S8: when an obstacle is encountered during the cleaning operation, when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, acquiring a second space map of an uncleaned area in the space to be cleaned, taking the second space map as the first space map, and executing the step S2: dividing the space to be cleaned into at least one cleaning area based on the first space map.

In another possible implementation, the cleaning robot is provided with a cleaning member for the cleaning robot to perform a cleaning operation on a floor;

the cleaning piece is a mopping module which is used for mopping and cleaning the ground;

the space to be cleaned is a room unit.

In another aspect, there is provided a cleaning control apparatus for use in cleaning an unknown space to be cleaned, the cleaning control apparatus being used in cooperation with a base station, the base station being a cleaning device used by the cleaning robot, the space to be cleaned being provided with an entrance and an exit,

the device comprises:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a map of a space to be cleaned as a first space map, the first space map is used for representing the space to be cleaned or a subspace to be cleaned in the space to be cleaned, and the subspace to be cleaned is an uncleaned area in the space to be cleaned;

The dividing module is used for dividing the space to be cleaned into at least one cleaning area based on the first space map, and an access is arranged between two adjacent and communicated cleaning areas;

a first setting module, configured to set a cleaning sequence for the cleaning regions, where the cleaning sequence satisfies that no other cleaning regions that have been cleaned are allowed to pass in a path from the entrance/exit of any one cleaning region in the cleaning sequence to the reference object;

and the execution module is used for sequentially executing cleaning operation on the cleaning areas of the space to be cleaned according to the cleaning sequence by taking the cleaning areas as units.

In one possible implementation, the apparatus further includes:

a judging module, configured to judge the first space map, when the first space map rule is satisfied, use the space to be cleaned or the subspace to be cleaned as a cleaning area, set a cleaning direction and a cleaning starting point for the cleaning area, and perform a cleaning operation on the cleaning area of the space to be cleaned, otherwise, divide the space to be cleaned into at least one cleaning area based on the first space map, where the first space map rule is defined as: at least one path exists from any point in the first space map to the reference object, the moving path in the path without the direction opposite to the reference direction is satisfied, the reference object is the base station or the entrance, the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and a connecting line area between the point and the reference object does not pass through an obstacle.

In another possible implementation manner, the execution module is further configured to set a cleaning direction for the cleaning area, where the cleaning direction is the reference direction; setting a cleaning starting point for the cleaning area based on the cleaning direction, wherein the cleaning starting point is a point on an edge opposite to the cleaning direction in the edge of the cleaning area; and performing a cleaning operation on the cleaning area of the space to be cleaned in the cleaning direction and the cleaning sequence from the cleaning start point in units of the cleaning area.

In another possible implementation manner, the apparatus further includes:

a selecting module, configured to select a cleaning area according to the cleaning sequence, determine an area map of the cleaning area, set a cleaning direction for the cleaning area when the area map is in a rule, otherwise, use the area map as the first space map, use the cleaning area as the space to be cleaned, divide the space to be cleaned into at least one cleaning area based on the first space map, where the area map rule is defined as: at least one path exists from any point in the regional map to the entrance and the exit, and the moving path which does not tend to the direction opposite to the direction of the entrance and the exit in the paths is met.

In another possible implementation manner, the apparatus further includes:

the mobile module is used for moving from the cleaning area to the next cleaning area based on the navigation path for moving from the cleaning area to the next cleaning area after cleaning operation is performed on one cleaning area.

In another possible implementation manner, the dividing module is further configured to divide the space to be cleaned according to the room information in the first space map to obtain the at least one cleaning area.

In another possible implementation manner, the apparatus further includes:

the second setting module is used for setting a rectangular reference coordinate system by taking the reference object as an origin, and comprises an X axis and a Y axis, wherein the reference direction is vertical to the X axis and is the positive direction of the Y axis;

the dividing module is further configured to scan the first space map through a transverse scanning line at the position of the reference object, wherein the transverse scanning line is perpendicular to the reference direction; if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the Y axis, advancing the transverse scanning line to scan the adjacent and unscanned area along the positive direction of the Y axis; if the scanned area in the first space map has an adjacent and unscanned area in the Y-axis negative direction, advancing the transverse scanning line along the Y-axis negative direction to scan the adjacent and unscanned area; and combining continuous areas scanned in the same direction by taking the position of the segment of the length of the transverse scanning line cut by the first space map and the edge of the first space map as boundary lines, thereby dividing the space to be cleaned into at least one cleaning area.

In another possible implementation manner, the apparatus further includes:

the third setting module is used for setting a rectangular reference coordinate system by taking the reference object as an origin, and comprises an X axis and a Y axis, wherein the reference direction is vertical to the X axis and is the positive direction of the Y axis;

the dividing module is further configured to scan the first space map through a longitudinal scanning line at the position of the reference object, where the longitudinal scanning line is parallel to the reference direction; if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the X axis, advancing the longitudinal scanning line to scan the adjacent and unscanned area along the positive direction of the X axis; if the scanned area in the first space map has an adjacent and unscanned area in the negative direction of the X axis, advancing the longitudinal scanning line along the negative direction of the X axis to scan the adjacent and unscanned area; and combining continuous areas scanned in the same direction by taking the position of the longitudinal scanning line with the length of the segmentation of the first space map and the edge of the first space map as boundary lines, thereby dividing the space to be cleaned into at least one cleaning area.

In another possible implementation manner, the apparatus further includes:

the fourth setting module is used for setting a rectangular reference coordinate system by taking the reference object as an origin, and comprises an X axis and a Y axis, wherein the reference direction is vertical to the X axis and is the positive direction of the Y axis;

the dividing module is further configured to scan the first space map through a transverse scanning line and a longitudinal scanning line at the position of the reference object, the transverse scanning line is perpendicular to the reference direction, and the longitudinal scanning line is parallel to the reference direction; if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the Y axis, advancing the transverse scanning line to scan the adjacent and unscanned area along the positive direction of the Y axis; if the scanned area in the first space map has an adjacent and unscanned area in the Y-axis negative direction, advancing the transverse scanning line along the Y-axis negative direction to scan the adjacent and unscanned area; if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the X axis, advancing the longitudinal scanning line to scan the adjacent and unscanned area along the positive direction of the X axis; if the scanned area in the first space map has an adjacent and unscanned area in the negative direction of the X axis, advancing the longitudinal scanning line along the negative direction of the X axis to scan the adjacent and unscanned area; and combining areas scanned in the same direction by taking the positions of the segments of the lengths of the transverse scanning lines and the longitudinal scanning lines, which are cut by the first space map, and the edge of the first space map as boundary lines, so as to divide the space to be cleaned into at least one cleaning area.

In another possible implementation manner, the apparatus further includes:

and the merging module is used for merging the cleaning area and other adjacent cleaning areas with the areas larger than the preset numerical value when the area of the cleaning area is smaller than the preset numerical value.

In another possible implementation manner, the merging module is further configured to merge the cleaning areas into a cleaning area scanned by a scan line advancing in the same direction.

In another possible implementation manner, the first setting module is further configured to establish a region sequence tree based on the cleaning region, the region sequence tree comprises at least one node, each node represents a cleaning region in the space to be cleaned, one node is connected with at least one node, the nodes comprise a top node, a father node and a child node, the two connected nodes are connected, the node close to the top node is the father node, the node far away from the top node is the child node, a clean area represented by the father node is adjacent to a clean area represented by the child node, or one node of the father node and the child node represents an isolated cleaning area, the other node represents a cleaning area which is closest to the isolated cleaning area, the cleaning area represented by the top node is the cleaning area where the reference object is located, only one path is formed from any node of the regional sequence tree, which is not the top node, to the top node; setting a cleaning order of the plurality of cleaning regions based on the region order tree.

In another possible implementation manner, the first setting module is further configured to set a node representing each cleaning area; according to the communication relation between the cleaning areas, when the cleaning areas represented by any two nodes are adjacent, or one node represents an isolated cleaning area and the other node represents a cleaning area closest to the isolated cleaning area, connecting the two nodes to construct a communication graph of the cleaning areas; and establishing the region sequence tree according to the connected graph.

In another possible implementation manner, the first setting module is further configured to use the connected graph as the area sequence tree when there is only one path from any node in the connected graph that is not a top node to the top node; and when a plurality of paths are formed from the nodes with the non-top nodes in the connected graph to the top nodes, performing ring removal processing on the connected graph to obtain the region sequence tree, wherein the ring is an annular path formed by sequentially connecting at least three nodes, and the ring enables the nodes with the non-top nodes in the connected graph to have the plurality of paths from the top nodes.

In another possible implementation manner, the first setting module is further configured to determine a first target cleaning region based on the region sequence tree; based on the area sequence tree, inquiring a father node of a first target node representing the first target clean area, inquiring whether the father node of the first target node has a child node representing a non-first target clean area, if not, taking the clean area represented by the father node of the first target node as a second target clean area, and if so, taking the clean area represented by the bottommost node in the child nodes as a second target clean area; inquiring a parent node of a second target node representing the second target clean area based on the area sequence tree, inquiring whether the parent node of the second target node has a child node representing the non-first target clean area and the non-second target clean area, if not, taking the clean area represented by the parent node of the second target node as a third target clean area, and if so, taking the clean area represented by the bottommost node in the child nodes as the third target clean area; querying the third target cleaning zone in the zone sequence tree until the cleaning zone represented by the top node is set as the last target cleaning zone.

In another possible implementation manner, the first setting module is further configured to determine, in the first space map, a first cleaning area closest to a current first position of the cleaning robot; determining whether leaf nodes exist in a target sub-tree based on the regional sequential tree and taking the first clean region as a starting node, wherein the target sub-tree is a local regional sequential tree in the regional sequential tree and taking the starting node as a top node, and the leaf nodes are nodes with father nodes and no son nodes in the regional sequential tree; when a leaf node exists in the target subtree, selecting a leaf node from the leaf nodes of the target subtree, and taking a cleaning area represented by the selected leaf node as the first target cleaning area;

In another possible implementation manner, the execution module is further configured to search, in the cleaning area, for a first uncleaned point closest to a current first position of the cleaning robot based on the area map, search, in the cleaning area, for a second uncleaned point of the cleaning area in a direction opposite to the cleaning direction within a preset length range perpendicular to the cleaning direction, where the second uncleaned point is the uncleaned point farthest from the first uncleaned point in the cleaning direction, and determine a cleaning start point of the cleaning area based on the second uncleaned point; or, based on the area map, scanning in a reverse direction of the cleaning direction in the cleaning area from a current first position of the cleaning robot in the form of a scanning line to search for a first uncleaned point within the cleaning area, the scanning line being perpendicular to the cleaning direction, the first uncleaned point being the uncleaned point farthest from the first position in the cleaning direction, and determining a cleaning start point of the cleaning area based on the first uncleaned point; or, based on the area map, searching for a first uncleaned point of the cleaning area in a reverse direction of the cleaning direction within the cleaning area with an entrance edge of the cleaning area as a start position of the cleaning robot, the first uncleaned point being an uncleaned point farthest from the start position of the cleaning area in the cleaning direction, and determining a cleaning start point of the cleaning area based on the first uncleaned point; or, based on the area map, searching out a first uncleaned point closest to a current first position of the cleaning robot in the cleaning area, and determining a cleaning starting point of the cleaning area based on the first uncleaned point.

In another possible implementation manner, the execution module is further configured to use the first uncleaned point as a cleaning starting point of the cleaning area; or when an uncleaned point exists on the edge where the first uncleaned point is located, moving to the end point of the edge, and taking the end point of the edge as the cleaning starting point of the cleaning area.

In another possible implementation manner, the apparatus further includes:

the second acquisition module is used for acquiring a second space map of an uncleaned area in the space to be cleaned when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value when the obstacle encounters an obstacle in the cleaning operation process, taking the second space map as the first space map, and dividing the space to be cleaned into at least one cleaning area based on the first space map.

In another possible implementation, the cleaning robot is provided with a cleaning member for performing a cleaning operation on the floor;

the space to be cleaned is a room unit.

In another aspect, there is provided a cleaning robot including:

one or more processors and one or more memories having stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by the one or more processors to implement the operations performed by any of the above-described cleaning control methods.

In another aspect, a computer-readable storage medium is provided, in which at least one instruction, at least one program, a set of codes, or a set of instructions is stored, which is loaded and executed by a processor to implement the operations performed by any one of the above-mentioned cleaning control methods.

The technical scheme provided by the embodiment of the application has the following beneficial effects:

according to the cleaning control method provided by the embodiment of the application, the cleaning robot acquires a map of a space to be cleaned as a first space map, divides the space to be cleaned into at least one cleaning area based on the first space map, sets a cleaning sequence for the cleaning area, and performs cleaning operation on the cleaning area of the space to be cleaned in sequence according to the cleaning sequence by taking the cleaning area as a unit, wherein the cleaning sequence satisfies that other cleaning areas which are already cleaned are not allowed to pass through in a path from an entrance of any one cleaning area to a reference object in the cleaning sequence. When the cleaning robot performs cleaning operation, the cleaning operation is performed on the cleaning areas of the space to be cleaned according to the cleaning sequence, and the set cleaning sequence meets the condition that the path from the entrance of any cleaning area to the reference object does not allow other cleaned cleaning areas to pass through, so that the method can prevent the cleaning robot from polluting the cleaned cleaning areas when moving to the area where the base station is located for charging or cleaning the cleaning piece, the cleaning effect is enhanced, and the cleaning efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of a background art for dividing a cleaning area;

fig. 2 is a schematic diagram of an application scenario of a cleaning control method provided in an embodiment of the present application;

fig. 3 is a schematic perspective view of a cleaning robot provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application with a part of a housing removed;

fig. 5 is a schematic bottom view of a mopping robot provided in the embodiments of the present application;

fig. 6 is a schematic bottom view of another sweeping robot provided in the embodiment of the present application;

fig. 7 is a block diagram illustrating a cleaning robot according to an embodiment of the present disclosure;

fig. 8 is a front view of a base station provided in an embodiment of the present application;

fig. 9 is a schematic perspective view of a base station according to an embodiment of the present disclosure after a top cover is opened;

fig. 10 is a block diagram of a base station according to an embodiment of the present disclosure;

fig. 11 is a schematic view of a cleaning robot driving to a base station according to an embodiment of the present disclosure;

fig. 12 is a schematic view illustrating a state where a cleaning robot provided in an embodiment of the present application is parked on a base station;

FIG. 13 is a flow chart of a cleaning control method provided by an embodiment of the present application;

FIG. 14 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 15 is a schematic diagram of a first space map provided by an embodiment of the present application;

fig. 16 is a schematic view of another first space map provided in the embodiment of the present application;

FIG. 17 is a schematic view of a reference direction provided by an embodiment of the present application;

FIG. 18 is a schematic view of another reference direction provided by embodiments of the present application;

FIG. 19 is a schematic diagram of a method for determining a first uncleaned spot provided by an embodiment of the present application;

FIG. 20 is a schematic diagram of another method for determining a first uncleaned spot provided by an embodiment of the present application;

FIG. 21 is a schematic diagram of a movement along a Chinese character 'gong' type trajectory according to an embodiment of the present application;

FIG. 22 is a schematic view of another type of movement along a zigzag trajectory provided by embodiments of the present application;

FIG. 23 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 24 is a schematic view of another first spatial map provided by an embodiment of the present application;

FIG. 25 is a schematic diagram of a scanning of a first space map by transverse scan lines according to an embodiment of the present application;

fig. 26 is a schematic diagram of scanning a first space map through a scan line inclined by 45 ° according to an embodiment of the present application;

Fig. 27 is a schematic view of a plurality of cleaning areas combined after a first space map is scanned by a transverse scan line according to an embodiment of the present application;

fig. 28 is a schematic view of a plurality of cleaning regions combined after a first space map is scanned by a scan line inclined at 45 ° according to an embodiment of the present application;

FIG. 29 is a schematic illustration of a connectivity graph provided by an embodiment of the present application;

FIG. 30 is a schematic view illustrating a cleaning direction configured for a cleaning area according to an embodiment of the present application;

FIG. 31 is a schematic view of another cleaning direction configured for a cleaning area according to an embodiment of the present application;

FIG. 32 is a schematic diagram of a method for determining a first unclean point provided by an embodiment of the present application;

FIG. 33 is a schematic view of another type of movement along a Bow-shaped trajectory provided by embodiments of the present application;

FIG. 34 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 35 is a schematic diagram of configuring inter-node weights according to an embodiment of the present disclosure;

FIG. 36 is a schematic diagram of a region order tree provided by an embodiment of the present application;

FIG. 37 is a schematic illustration of another connectivity graph provided by an embodiment of the present application;

FIG. 38 is a schematic diagram of another region order tree provided by embodiments of the present application;

FIG. 39 is a schematic diagram of another region order tree provided by embodiments of the present application;

FIG. 40 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 41 is a schematic view of another first spatial map provided by an embodiment of the present application;

FIG. 42 is a schematic view of a first space map scanned by a vertical scan line according to an embodiment of the present application;

fig. 43 is a schematic view of a plurality of cleaning areas combined after a first space map is scanned by a longitudinal scan line according to an embodiment of the present application;

fig. 44 is another schematic view of a plurality of cleaning regions combined after scanning the first space map by the longitudinal scan lines according to the embodiment of the present application;

FIG. 45 is a schematic view of another connectivity graph provided by embodiments of the present application;

FIG. 46 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 47 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 48 is a schematic view of another first spatial map provided by an embodiment of the present application;

FIG. 49 is a schematic view of another embodiment of the present application for scanning a first space map via transverse scan lines;

FIG. 50 is a schematic view of another embodiment of the present application illustrating scanning a first space map via a vertical scan line;

FIG. 51 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 52 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 53 is a schematic view of another embodiment of the present application illustrating scanning a first space map via a vertical scan line;

FIG. 54 is a schematic view of another embodiment of the present application illustrating scanning of a first spatial map via transverse scan lines;

FIG. 55 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 56 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 57 is a schematic view of a cleaning robot encountering an obstacle during a cleaning operation according to an embodiment of the present disclosure;

FIG. 58 is a schematic view of another first spatial map provided by an embodiment of the present application;

FIG. 59 is a schematic illustration of another scanning of a first space map via longitudinal scan lines according to an embodiment of the present application;

fig. 60 is another schematic view of a plurality of cleaning regions combined after scanning the first space map by the longitudinal scan lines according to the embodiment of the present application;

fig. 61 is another schematic view of a plurality of cleaning regions combined after scanning the first space map by the longitudinal scan lines according to the embodiment of the present application;

FIG. 62 is a schematic view of another cleaning direction configured for a cleaning area according to an embodiment of the present application;

FIG. 63 is a schematic view of another first spatial map provided by an embodiment of the present application;

FIG. 64 is a flow chart of another cleaning control method provided by an embodiment of the present application;

fig. 65 is a flowchart of a cleaning control device according to an embodiment of the present application;

FIG. 66 is a schematic view of another first spatial map provided by an embodiment of the present application;

FIG. 67 is a schematic view of another embodiment of the present application illustrating scanning a first space map via a vertical scan line;

FIG. 68 is a schematic view of another connectivity graph provided by embodiments of the present application;

FIG. 69 is a schematic view of another cleaning robot encountering an obstacle during a cleaning operation provided by an embodiment of the present application;

FIG. 70 is a schematic view of another first spatial map provided by an embodiment of the present application;

fig. 71 is a schematic view of another embodiment of the present application, which is used to scan a first space map through a transverse scan line to obtain a plurality of cleaning regions;

FIG. 72 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 73 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 74 is a schematic illustration of another first spatial map provided by an embodiment of the present application;

FIG. 75 is a schematic illustration of another connectivity graph provided by embodiments of the present application;

FIG. 76 is a schematic view of another cleaning direction configuration for the cleaning area according to the embodiment of the present application;

FIG. 77 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 78 is a schematic view of another first spatial map provided by an embodiment of the present application;

FIG. 79 is a schematic illustration of another connectivity graph provided by embodiments of the present application;

FIG. 80 is a flow chart of another cleaning control method provided by an embodiment of the present application;

FIG. 81 is a flow chart of another cleaning control method provided in an embodiment of the present application;

FIG. 82 is a flow chart of another cleaning control method provided by an embodiment of the present application;

fig. 83 is a schematic view of another first space map provided in the embodiment of the present application;

FIG. 84 is a schematic view of a room area provided by an embodiment of the present application;

FIG. 85 is a schematic view of another embodiment of the present disclosure showing a plurality of clean areas obtained after scanning a first space map by a transverse scan line;

FIG. 86 is a schematic view of another cleaning direction configuration for the cleaning area according to the embodiment of the present application;

Fig. 87 is a schematic structural diagram of a cleaning control device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions and advantages of the present application more clear, the following describes the embodiments of the present application in further detail.

An application scenario of the cleaning control method is provided in the embodiment of the present application, and referring to fig. 2, the application scenario includes a cleaning robot 100 and a base station 200. The cleaning robot 100 is used for automatically cleaning the floor of a space to be cleaned, and the base station 200 is a cleaning device used in cooperation with the cleaning robot 100 and used for charging the cleaning robot 100 or cleaning a cleaning member of the cleaning robot 100. The cleaning robot 100 is provided with a cleaning member and a driving device, the driving device is used for driving the cleaning robot 100, and the cleaning member is used for automatically cleaning the ground of the space to be cleaned. The cleaning piece can be a mopping module or a sweeping module, the mopping module is used for mopping and cleaning the ground, the mopping module can be a mopping piece, and the mopping piece can be a cleaning cloth. The sweeping module is used for sweeping and cleaning the ground, and the sweeping module can be a side brush.

The space to be cleaned is provided with an entrance and exit for the cleaning robot 100 to enter and exit the space to be cleaned therethrough. Wherein, when the cleaning robot 100 needs to go to the area where the base station 200 is located to charge or wash the cleaning member, the cleaning member can enter and exit the space to be cleaned through the entrance. The space to be cleaned can be a single room unit in a household space, the space to be cleaned is a partial area in one room unit, or the space to be cleaned is a room area formed by a plurality of room units, or the space to be cleaned is a household space. The space to be cleaned can also be a public place such as an office in an office building, a large-scale shopping mall or an airport. In the embodiment of the present application, the space to be cleaned is not particularly limited. When the space to be cleaned is a single room unit, the access opening can be a door of the room unit; when the space to be cleaned is a partial area in one room unit, the doorway may be a position where the cleaning robot 100 enters and exits the partial area; when the space to be cleaned is a home space, the entrance can be a door of the home space.

In the embodiment of the present application, when cleaning a space to be cleaned, the cleaning robot 100 acquires a map of the space to be cleaned as a first space map, divides the space to be cleaned into at least one cleaning region based on the first space map, sets a cleaning order for the divided cleaning regions, and sequentially performs a cleaning operation on the cleaning regions of the space to be cleaned in the cleaning order with the cleaning regions as units. The method avoids the pollution of the cleaned cleaning area when the cleaning robot 100 moves to the area where the base station 200 is located for charging or cleaning the cleaning piece, thereby enhancing the cleaning effect and improving the cleaning efficiency.

The embodiment of the present application provides a cleaning robot 100 that can be used to automatically clean a floor surface.

Fig. 3 is a schematic perspective view of a cleaning robot 100 according to an embodiment of the present disclosure, and fig. 4 is a schematic structural view of the cleaning robot 100 shown in fig. 3 with a partial housing removed. Among the types of the cleaning robot 100 are a sweeping robot 1001 and a mopping robot 1002. Fig. 5 is a schematic structural view of a floor mopping robot 1002 according to the embodiment of the present application, fig. 6 is a schematic structural view of a floor sweeping robot 1001 according to the embodiment of the present application, and fig. 7 is another structural view of the cleaning robot 100 according to the embodiment of the present application.

As shown in fig. 3 to 7, the cleaning robot 100 includes a robot main body 101, a driving motor 102, a sensor unit 103, a controller 104, a battery 105, a traveling unit 106, a memory 107, a communication unit 108, a robot interaction unit 109, a cleaning member, a charging member 111, and the like.

The robot main body 101 may have a circular structure, a square structure, or the like. In the present embodiment, the robot main body 101 is described as having a D-shaped configuration. As shown in fig. 3, the robot main body 101 has a rounded rectangular front portion and a semicircular rear portion. In the embodiment of the present application, the robot main body 101 has a bilaterally symmetric structure.

The cleaning pieces are used for cleaning the floor, and the number of the cleaning pieces can be one or more. The cleaning member is disposed at the bottom of the robot main body 101, specifically, at a position forward of the bottom of the robot main body 101. A driving motor 102 is arranged in the robot main body 101, two rotating shafts extend out of the bottom of the robot main body 101, and the cleaning piece is sleeved on the rotating shafts. The driving motor 102 can drive the rotating shaft to rotate, so that the rotating shaft drives the cleaning element to rotate.

As shown in fig. 5, for the mopping robot 1002, the cleaning element is embodied as a mop 1101, the mop 1101 being for example a mop swab. The mopping member 1101 is used for mopping the floor.

As shown in fig. 6, for the sweeping robot 1001, the cleaning member is specifically a side brush 1102, and the side brush 1102 is used for sweeping and cleaning the floor. The sweeping robot 1001 is further provided with a dust suction device, which includes a dust suction port 1121 provided at the bottom of the robot main body 101, and a dust box 1122 and a fan 1123 provided inside the robot main body 101. The side brush 1102 is disposed on a rotating shaft at the bottom of the sweeping robot 1001, and after the rotating shaft drives the side brush 1102, the rotating side brush 1102 sweeps dust and other garbage to the vicinity of a dust suction port 1121 at the bottom of the sweeping robot 1001, and due to the suction effect of the fan 1123, the garbage is sucked into the dust suction port 1121 and enters the dust box 1122 through the dust suction port 1121 for temporary storage.

In the embodiment of the present application, the cleaning member of the cleaning robot 100 may be detachably connected, and when mopping cleaning is required, the mopping member 1101 is installed at the bottom of the robot main body 101; when floor cleaning is required, the side brush 1102 is used in place of the wiper 1101, and the side brush 1102 is attached to the bottom of the robot main body 101.

The traveling unit 106 is a component related to the movement of the cleaning robot 100, and the traveling unit 106 includes driving wheels 1061 and universal wheels 1062. The universal wheel 1062 and the driving wheel 1061 cooperate to steer and move the cleaning robot 100. One drive wheel 1061 is provided on each of the left and right sides of the bottom surface of the robot main body 101 near the rear. The universal wheel 1062 is disposed on the center line of the bottom surface of the robot main body 101 between the two cleaning members.

Wherein, each driving wheel 1061 is provided with a driving wheel motor, and the driving wheel 1061 is driven by the driving wheel motor to rotate. The driving wheel 1061 rotates to drive the cleaning robot 100 to move. The steering angle of the cleaning robot 100 can be controlled by controlling the difference in the rotation speed of the left and right driving wheels 1061.

Fig. 7 is another structural schematic diagram of the cleaning robot 100 shown in fig. 3.

A controller 104 is provided inside the robot main body 101, and the controller 104 is used to control the cleaning robot 100 to perform a specific operation. The controller 104 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. As shown in fig. 7, the controller 104 is electrically connected to components such as the battery 105, the memory 107, the driving motor 102, the walking unit 106, the sensor unit 103, and the robot interaction unit 109 to control these components.

A battery 105 is provided inside the robot main body 101, and the battery 105 is used to supply power to the cleaning robot 100.

The robot main body 101 is also provided with a charging member 111, and the charging member 111 is used to obtain power from an external device to charge the battery 105 of the cleaning robot 100.

A memory 107 is provided on the robot main body 101, and the memory 107 stores a program that realizes a corresponding operation when executed by the controller 104. The memory 107 is also used to store parameters for use by the cleaning robot 100. The Memory 107 includes, but is not limited to, a magnetic disk Memory, a Compact Disc-Only Memory (CD-ROM), an optical Memory, and the like.

A communication unit 108 is provided on the robot main body 101, the communication unit 108 is used for the cleaning robot 100 to communicate with external devices, and the communication unit 108 includes, but is not limited to, a WIreless-Fidelity (WI-FI) communication module 1081, a short-range communication module 1082, and the like. The cleaning robot 100 may communicate with the terminal by connecting a WI-FI router through the WI-FI communication module 1081. The cleaning robot 100 communicates with the base station through the short-range communication module 1082. Wherein the base station is a cleaning device used in cooperation with the cleaning robot 100.

The sensor unit 103 provided on the robot main body 101 includes various types of sensors such as a laser radar 1031, an impact sensor 1032, a distance sensor 1033, a fall sensor 1034, a counter 1035, a gyroscope 1036, and the like.

The laser radar 1031 is arranged at the top of the robot main body 101, and when the robot main body 101 works, the laser radar 1031 rotates and transmits a laser signal through a transmitter on the laser radar 1031, and the laser signal is reflected by an obstacle, so that a receiver of the laser radar 1031 receives the laser signal reflected by the obstacle. The circuit unit of laser radar 1031 analyzes the received laser signal, and thereby obtains surrounding environment information such as the distance and angle of an obstacle with respect to laser radar 1031. In addition, a camera can be used to replace the laser radar, and the distance, the angle and the like of the obstacle relative to the camera can be obtained by analyzing the obstacle in the image shot by the camera.

Impact sensor 1032 includes an impact housing 10321 and a trigger sensor 10322. The collision housing 10321 surrounds the head of the robot main body 101, and specifically, the collision housing 10321 is provided at a front position of the head of the robot main body 101 and left and right sides of the robot main body 101. The trigger sensor 10322 is provided inside the robot main body 101 behind the collision case 10321. An elastic buffer is provided between the collision case 10321 and the robot main body 101. When the cleaning robot 100 collides with an obstacle through the collision case 10321, the collision case 10321 moves toward the inside of the cleaning robot 100 and compresses the elastic buffer. After the impact housing 10321 moves a certain distance into the cleaning robot 100, the impact housing 10321 comes into contact with the trigger sensor 10322, and the trigger sensor 10322 is triggered to generate a signal, which can be sent to the controller 104 in the robot main body 101 for processing. After the obstacle is hit, the cleaning robot 100 is away from the obstacle, and the collision housing 10321 moves back to the home position by the elastic buffer member. It can be seen that impact sensor 1032 can detect an obstacle and provide cushioning after impact with the obstacle.

The distance sensor 1033 may be specifically an infrared detection sensor, and may be used to detect a distance from an obstacle to the distance sensor 1033. The distance sensor 1033 is provided at a side surface of the robot main body 101 so that a distance value from an obstacle located near the side surface of the cleaning robot 100 to the distance sensor 1033 can be measured by the distance sensor 1033. The distance sensor 1033 may be an ultrasonic distance measuring sensor, a laser distance measuring sensor, a depth sensor, or the like.

The drop sensors 1034 are disposed at the bottom edge of the robot body 101, and may be one or more in number. When the cleaning robot 100 moves to an edge position of the floor, it can be detected by the drop sensor 1034 that the cleaning robot 100 is at risk of dropping from a high position, thereby performing a corresponding drop-prevention reaction, such as the cleaning robot 100 stopping moving, or moving away from the drop position.

A counter 1035 and a gyroscope 1036 are also provided inside the robot main body 101. The counter 1035 is configured to count the total number of rotational angles of the driving wheel 1061, so as to calculate the distance that the cleaning robot 100 is driven by the driving wheel 1061. The gyroscope 1036 is used to detect the angle at which the cleaning robot 100 rotates, so that the orientation of the cleaning robot 100 can be determined.

The robot interaction unit 109 is provided on the robot main body 101, and a user can interact with the cleaning robot 100 through the robot interaction unit 109. The robot interaction unit 109 includes, for example, a switch button 1091, and a speaker 1092. The user can control the cleaning robot 100 to start or stop the operation by pressing the switch button 1091. The cleaning robot 100 may play a warning tone to the user through the speaker 1092.

It should be understood that the cleaning robot 100 described in the embodiment of the present application is only a specific example, and the cleaning robot 100 of the embodiment of the present application is not specifically limited, and the cleaning robot 100 of the embodiment of the present application may be implemented in other specific ways. For example, in other implementations, the cleaning robot 100 may have more or fewer components than the cleaning robot 100 shown in fig. 3. For another example, the cleaning robot 100 may be a sweeping and mopping integrated robot, that is, the bottom of the cleaning robot 100 is provided with a mopping member, an edge brush, and an air suction opening, so that the cleaning robot 100 can simultaneously mop and sweep the floor.

The embodiment of the present application also provides a base station 200, and the base station 200 is used in cooperation with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, the base station 200 may provide a parking position for the cleaning robot 100, and the like. When the cleaning robot 100 is the mopping robot 1002, the base station 200 may also wash the mopping member 1101 of the mopping robot 1002. The mop 1101 is used for mopping the floor.

Fig. 8 is a front view of a base station 200 according to an embodiment of the present disclosure. Fig. 9 is a perspective view of the base station 200 shown in fig. 8 after the top cover 201 is opened.

As shown in fig. 8 and 9, the base station 200 of the embodiment of the present application includes a base station main body 202, a washing tank 203, and a water tank 204.

A cleaning tank 203 is provided on the base station main body 202, the cleaning tank 203 being used to clean a mop 1101 of the mopping robot 1002. The cleaning ribs 2031 provided on the cleaning bath 203 can perform wiping cleaning of the wiper 1101.

A notch 205 is provided in the base station main body 202, and the notch 205 leads to the cleaning tank 203. The cleaning robot 100 may be driven into the base station 200 through the entry slot 205 such that the cleaning robot 100 is parked at a preset parking position on the base station 200.

The water tank 204 is provided in the base station main body 202, and the water tank 204 specifically includes a fresh water tank and a dirty water tank. The clean water tank is used for storing clean water. When the cleaning robot 100 is the mopping robot 1002 and the mopping piece 1101 is arranged at the bottom of the mopping robot 1002, the cleaning robot 100 stops at the base station 200, and the mopping piece 1101 of the cleaning robot 100 is accommodated on the cleaning tank 203. The clean water tank supplies cleaning water to the cleaning tank 203, and the cleaning water is used to clean the wiper 1101. Then, the dirty water after cleaning the wiper 1101 is collected in the dirty water tank. A top cover 201 is provided on the base station main body 202, and a user can take out the water tank 204 from the base station main body 202 by opening the top cover 201.

Fig. 10 is another schematic structural diagram of the base station 200 shown in fig. 8.

Referring to fig. 10, the base station 200 of the embodiment of the present application further includes a controller 206, a communication unit 207, a memory 208, a water pump 209, a base station interaction unit 210, and the like.

A controller 206 is provided inside the base station main body 202, and the controller 206 is used to control the base station 200 to perform a specific operation. The controller 206 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. Wherein, the controller 206 is electrically connected with the communication unit 207, the memory 208, the water pump 209 and the base station interaction unit 210.

A memory 208 is provided on the base station main body 202, and the memory 208 stores thereon a program that realizes a corresponding operation when executed by the controller 206. The memory 208 is also used to store parameters for use by the base station 200. Memory 208 includes, but is not limited to, disk memory, CD-ROM, optical memory, and the like.

The water pumps 209 are provided inside the base station main body 202, and specifically, there are two water pumps 209, one of the water pumps 209 is for controlling the clean water tank to supply cleaning water to the cleaning tank 203, and the other water pump 209 is for collecting dirty water after cleaning the wiper 1101 into the dirty water tank.

A communication unit 207 is provided on the base station main body 202, the communication unit 207 is used for communicating with an external device, and the communication unit 207 includes, but is not limited to, a WIreless-Fidelity (WI-FI) communication module 2071, a short-range communication module 2072, and the like. The base station 200 may communicate with the terminal by connecting to the WI-FI router through the WI-FI communication module 2071. The base station 200 may communicate with the cleaning robot 100 through the short-range communication module 2072.

The base station interacting unit 210 is used for interacting with the user. The base station interaction unit 210 includes, for example, a display screen 2101 and a control button 2102, the display screen 2101 and the control button 2102 are disposed on the base station main body 202, the display screen 2101 is used to display information to a user, and the control button 2102 is used for a user to perform a pressing operation to control the start-up or shutdown of the base station 200.

The base station main body 202 is further provided with a power supply part, and the cleaning robot 100 is provided with a charging part 111, and when the cleaning robot 100 stops at a preset stop position on the base station 200, the charging part 111 of the cleaning robot 100 contacts with the power supply part of the base station 200, so that the base station 200 charges the cleaning robot 100. Wherein, the power of the base station 200 can be derived from the commercial power.

The following exemplifies a process in which the cleaning robot 100 and the base station 200 cooperate:

the cleaning robot 100 cleans the floor of the room, and when the power of the battery 105 on the cleaning robot 100 is less than the preset power threshold, the cleaning robot 100 automatically drives to the base station 200 as shown in fig. 11. The cleaning robot 100 enters the base station 200 through the entry slot 205 on the base station 200 and stops at a preset stop position on the base station 200. The state where the cleaning robot 100 is parked on the base station 200 can be referred to fig. 12.

At this time, the charging part 111 on the cleaning robot 100 contacts the power supply part on the base station 200, and the base station 200 receives power from the commercial power and charges the battery 105 of the cleaning robot 100 through the power supply part and the charging part 111. After the cleaning robot 100 is fully charged, it moves away from the base station 200 and continues to clean the floor of the room.

When the cleaning robot 100 is a mopping robot 1002 and a mop 1101 is provided at the bottom of the mopping robot 1002, the cleaning robot 100 is used for mopping the floor. After the cleaning robot 100 mops the floor of the room for a period of time and the mopping member 1101 becomes dirty, the cleaning robot 100 travels to the base station 200. The cleaning robot 100 enters the base station 200 through the entry slot 205 on the base station 200 and stops at a preset stop position on the base station 200. The state where the cleaning robot 100 is parked on the base station 200 can be referred to fig. 12. At this time, the mop 1101 of the cleaning robot 100 is accommodated in the cleaning tank 203, and under the action of the water pump 209, the cleaning water in the clean water tank in the base station 200 flows to the cleaning tank 203 and is sprayed onto the mop 1101 through the liquid inlet structure on the cleaning tank 203, and meanwhile, the mop 1101 scrapes the convex cleaning ribs 2031 in the cleaning tank, so that the cleaning of the mop 1101 is realized. The dirty water after cleaning the mop 1101 flows out of the cleaning tank 203 from the drainage structure on the cleaning tank, and is collected into the dirty water tank under the action of the water pump 209.

It should be understood that the base station 200 described in the embodiment of the present application is only a specific example, and is not limited to the base station 200 in the embodiment of the present application, and the base station 200 in the embodiment of the present application may be implemented in other specific ways, for example, the base station 200 in the embodiment of the present application may not include the water tank 204, and the base station main body 202 may be connected to a tap water pipe and a drain pipe, so that the mop 1101 of the cleaning robot 100 is cleaned by using tap water from the tap water pipe, and dirty water after cleaning the mop 1101 is drained from the cleaning tank 203 to the base station 200 through the drain pipe. Alternatively, in other implementations, the base station 200 may have more or fewer components than the base station 200 shown in fig. 8.

The embodiment of the present application provides a cleaning control method, referring to fig. 13, when the cleaning robot 100 is used to clean an unknown space to be cleaned, the cleaning robot 100 is used with a base station 200, the base station 200 is a cleaning device used by the cleaning robot 100, and the space to be cleaned is provided with an entrance and an exit, the cleaning control method includes:

Step S2: dividing a space to be cleaned into at least one cleaning area based on a first space map, wherein an access is arranged between two adjacent and communicated cleaning areas;

step S3: setting a cleaning sequence for the cleaning areas, wherein the cleaning sequence satisfies that the other cleaned cleaning areas are not allowed to pass through in the path from the entrance and the exit of any one cleaning area to the reference object in the cleaning sequence;

step S4: cleaning operations are sequentially performed on the cleaning regions of the space to be cleaned in the cleaning order in units of the cleaning regions.

In one possible implementation, before step S2, the method further includes:

step S5: judging the first space map, and if the first space map is regular, taking the space to be cleaned or the subspace to be cleaned as the cleaning area, and executing the step S6: setting a cleaning direction and a cleaning start point for the cleaning area, performing a cleaning operation on the cleaning area of the space to be cleaned, otherwise performing step S2, where the first space map rule is defined as: at least one path exists from any point in the first space map to the reference object, the moving path which does not tend to the opposite direction of the reference direction in the path is met, the reference object is a base station or an entrance, the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting line area from the point to the reference object does not pass through the obstacle.

In another possible implementation, step S4: a method of sequentially performing a cleaning operation on a cleaning region of a space to be cleaned in a cleaning order in units of the cleaning region, comprising:

step S41: setting a cleaning direction for the cleaning area, wherein the cleaning direction is a reference direction;

step S42: setting a cleaning starting point for the cleaning area based on the cleaning direction, wherein the cleaning starting point is a point on the edge opposite to the cleaning direction in the edge of the cleaning area;

step S43: the cleaning operation is performed on the cleaning area of the space to be cleaned in the cleaning direction and the cleaning order from the cleaning start point in units of the cleaning area.

In another possible implementation manner, before step S41, the method further includes:

step S7: selecting a cleaning area according to a cleaning sequence, judging an area map of the cleaning area, and performing the step S41 for cleaning when the area map is regulated, or else, performing the step S2 with the area map as a first space map and the cleaning area as a space to be cleaned, wherein the area map is regulated as follows: at least one path exists from any point in the regional map to the entrance and the exit, and the moving path which does not tend to the direction opposite to the direction of the entrance and the exit in the paths is satisfied.

In another possible implementation manner, the method further includes:

when a cleaning operation is performed on a cleaning area, the cleaning area is moved to a next cleaning area based on a navigation path for moving from the cleaning area to the next cleaning area.

In another possible implementation, step S2: the method for dividing the space to be cleaned into at least one cleaning area comprises the following steps:

and dividing the space to be cleaned according to the room information in the first space map to obtain at least one cleaning area.

In another possible implementation manner, before step S2, the method further includes:

setting a rectangular reference coordinate system by taking the reference object as an origin, wherein the rectangular reference coordinate system comprises an X axis and a Y axis, the reference direction is vertical to the X axis, and the reference direction is the positive direction of the Y axis;

step S2: the method for dividing the space to be cleaned into at least one cleaning area based on the first space map comprises the following steps:

step S21: scanning the first space map at the position of the reference object by a transverse scanning line, the transverse scanning line being perpendicular to the reference direction;

if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the Y axis, advancing a transverse scanning line along the positive direction of the Y axis to scan the adjacent and unscanned area;

step S22: and combining continuous areas scanned in the same direction by taking the position where the segment appears in the length of the transverse scanning line cut by the first space map and the edge of the first space map as boundary lines, thereby dividing the space to be cleaned into at least one cleaning area.

step S201, scanning a first space map through a longitudinal scanning line at the position of a reference object, wherein the longitudinal scanning line is parallel to a reference direction;

step S202: and combining continuous areas scanned in the same direction by taking the position where the longitudinal scanning line is sectioned by the first space map and the edge of the first space map as boundary lines, thereby dividing the space to be cleaned into at least one cleaning area.

step S2: dividing the space to be cleaned into at least one cleaning area based on the first space map, comprising:

step S211: scanning a first space map through a transverse scanning line and a longitudinal scanning line at the position of a reference object, wherein the transverse scanning line is vertical to the reference direction, and the longitudinal scanning line is parallel to the reference direction;

step S212: the positions of the horizontal scanning lines and the vertical scanning lines which are segmented by the length of the first space map and the edge of the first space map are used as boundary lines, and the areas scanned along the same direction are combined, so that the space to be cleaned is divided into at least one cleaning area.

In another possible implementation manner, before step S3, the method further includes:

when the area of the cleaning area is smaller than the preset value, the cleaning area is combined with other adjacent cleaning areas with the area larger than the preset value.

In another possible implementation, a method for combining a cleaning region with other adjacent cleaning regions having an area larger than a preset value includes:

The cleaning areas are merged to the cleaning area scanned by the scan line advancing in the same direction.

In another possible implementation, step S3: a method of setting a cleaning sequence for a cleaning area, comprising:

step S301: based on the cleaning area, establishing an area sequence tree, wherein the area sequence tree comprises at least one node, each node represents a cleaning area in the space to be cleaned, one node is connected with at least one node, the nodes comprise a top node, a father node and a child node, the two connected nodes are connected, the node close to the top node is the father node, the node far away from the top node is the child node, the cleaning area represented by the father node is adjacent to the cleaning area represented by the child node, or one node in the father node and the child node represents an isolated cleaning area, the other node represents the cleaning area closest to the isolated cleaning area, the cleaning area represented by the top node is the cleaning area where the reference object is located, and only one path exists from any node which is not the top node to the top node in the area sequence tree;

step S302: based on the region order tree, a cleaning order of the plurality of cleaning regions is set.

In another possible implementation manner, step S301: a method of building a zone sequence tree based on clean zones, comprising:

Step S3011: setting a node representing each cleaning area;

step S3012: according to the communication relation between the cleaning areas, when the cleaning areas represented by any two nodes are adjacent, or one node represents an isolated cleaning area and the other node represents the cleaning area closest to the isolated cleaning area, connecting the two nodes to construct a communication graph of the cleaning areas;

step S3013: and establishing a region sequence tree according to the connected graph.

In another possible implementation manner, step S3013: the method for establishing the region sequence tree according to the connected graph comprises the following steps:

when only one path exists from any node of the connected graph, which is not the top node, to the top node, the connected graph is used as a region sequence tree;

when a plurality of paths are formed from nodes with non-top nodes to the top nodes in the connected graph, the connected graph is subjected to ring removal processing to obtain an area sequence tree, the ring is an annular path formed by sequentially connecting at least three nodes, and the ring enables the nodes with the non-top nodes in the connected graph to have the plurality of paths from the top nodes.

In another possible implementation manner, step S302: a method of setting a cleaning order for a plurality of cleaning zones based on a zone sequence tree, comprising:

step S3023: based on the area sequence tree, inquiring a father node of a second target node representing a second target clean area, inquiring whether the father node of the second target node has child nodes representing non-first target clean areas and non-second target clean areas, if not, taking the clean area represented by the father node of the second target node as a third target clean area, and if so, taking the clean area represented by the bottommost node in the child nodes as the third target clean area;

step S3024: the third target cleaning zone in the zone sequence tree is queried until the cleaning zone represented by the top node is set as the last target cleaning zone.

In another possible implementation manner, step S3021: a method of determining a first target cleaning zone based on a zone sequence tree, comprising:

determining a first cleaning area closest to a current first position of the cleaning robot in the first space map;

determining whether leaf nodes exist in a target sub-tree or not by taking a first clean area as an initial node based on the area sequence tree, wherein the target sub-tree is a local area sequence tree which takes the initial node as a top node in the area sequence tree, and the leaf nodes are nodes of which father nodes and no son nodes exist in the area sequence tree;

when leaf nodes exist in the target subtree, selecting a leaf node from the leaf nodes of the target subtree, and taking a cleaning area represented by the selected leaf node as a first target cleaning area;

when there is no leaf node in the target subtree, the cleaning region represented by the start node is taken as the first target cleaning region.

In another possible implementation, the cleaning direction of the cleaning region represented by the top node is the same as the reference direction, for any child node other than the top node in the area order tree, the cleaning direction of the cleaning region represented by the child node points to the cleaning region represented by the parent node of the child node, and the cleaning direction of the cleaning region represented by the child node is parallel or perpendicular to the reference direction.

In another possible implementation manner, in step S42, the method for setting a cleaning start point for a cleaning area includes:

searching out a first uncleaned point closest to a current first position of the cleaning robot in the cleaning area based on the area map; searching a second uncleaned point of the cleaning area along the opposite direction of the cleaning direction within a preset length range perpendicular to the cleaning direction in the cleaning area, wherein the second uncleaned point is the uncleaned point farthest from the first uncleaned point in the cleaning direction; determining a cleaning start point of the cleaning area based on the second uncleaned point; alternatively, the first and second electrodes may be,

scanning and searching a first uncleaned point in the cleaning area in a scanning line form along a direction opposite to the cleaning direction from a current first position of the cleaning robot in the cleaning area based on the area map, wherein the scanning line is perpendicular to the cleaning direction, and the first uncleaned point is the uncleaned point farthest from the first position in the cleaning direction; determining a cleaning starting point of the cleaning area based on the first uncleaned point; alternatively, the first and second electrodes may be,

searching for a first uncleaned point of the cleaning area along a reverse direction of the cleaning direction within the cleaning area with an entrance edge of the cleaning area as a start position of the cleaning robot based on the area map, the first uncleaned point being an uncleaned point farthest from the start position of the cleaning area in the cleaning direction; determining a cleaning starting point of the cleaning area based on the first uncleaned point; alternatively, the first and second electrodes may be,

Searching out a first uncleaned point closest to a current first position of the cleaning robot in the cleaning area based on the area map; based on the first uncleaned point, a cleaning start point of the cleaning area is determined.

In another possible implementation, a method of determining a cleaning start point of a cleaning area based on a first uncleaned point includes:

when the first uncleaned point is located on the edge, the first uncleaned point moves to the end point of the edge, and the end point of the edge is used as the cleaning starting point of the cleaning area.

In another possible implementation manner, the method further includes:

step S8: when an obstacle is encountered during the cleaning operation, when the obstacle crosses over at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, acquiring a second space map of an uncleaned area in the space to be cleaned, taking the second space map as a first space map, and executing step S2: and dividing the space to be cleaned into at least one cleaning area based on the first space map.

In another possible implementation, the cleaning robot is provided with a cleaning piece, and the cleaning piece is used for cleaning the ground by the cleaning robot;

the space to be cleaned is a room unit.

In the cleaning control method provided by the embodiment of the application, the cleaning robot 100 acquires a map of a space to be cleaned as a first space map, divides the space to be cleaned into at least one cleaning area based on the first space map, sets a cleaning sequence for the cleaning area, the cleaning sequence satisfying that other cleaning areas which have already been cleaned are not allowed to pass through in a path from an entrance of any one cleaning area to a reference object in the cleaning sequence, and sequentially performs cleaning operations on the cleaning areas of the space to be cleaned in the cleaning sequence by taking the cleaning areas as units. When the cleaning robot 100 performs the cleaning operation, the cleaning operation is performed on the cleaning areas of the space to be cleaned according to the cleaning sequence, and the set cleaning sequence meets the requirement that the path from the entrance of any cleaning area to the reference object does not allow the cleaning robot to pass through other cleaned cleaning areas, so that the method can prevent the cleaning robot 100 from polluting the cleaned cleaning areas when moving to the area where the base station is located for charging or cleaning the cleaning pieces, the cleaning effect is enhanced, and the cleaning efficiency is improved.

Example 1

Referring to fig. 14, the cleaning control method according to the embodiment of the present application, which takes a space to be cleaned as a room unit, the room unit is a regular room unit, the cleaning robot 100 directly takes the room unit as a cleaning area, and an example of performing a cleaning operation on the room unit is described, the method includes:

step S1401: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

The execution time of the cleaning control method of all embodiments in the present application may be: no edgewise cleaning, or a portion of the area has been cleaned, or the edgewise cleaning is finished before the bow cleaning is started. The cleaning along the edge is performed on the wall and the ground by the cleaning robot 100, and the cleaning along the edge of the wall is completed for the cleaning robot 100 when the cleaning along the edge is completed, wherein the cleaning robot 100 can acquire the edge information of the space to be cleaned through the cleaning along the edge. The zigzag cleaning is such that the cleaning robot 100 is gradually advanced in the cleaning direction and is folded back and forth in a direction perpendicular to the cleaning direction. In addition, the first space map is used for representing the space to be cleaned or a subspace to be cleaned in the space to be cleaned, wherein the subspace to be cleaned is an uncleaned area in the space to be cleaned.

In one possible implementation, before this step, the cleaning robot 100 acquires a first space map of the space to be cleaned and stores the first space map; in this step, the cleaning robot 100 directly acquires the stored first space map when executing the cleaning control method. In this case, the cleaning robot 100 may store the first space map on the memory, and accordingly, the cleaning robot 100 may read the first space map from the memory. In another possible implementation, the cleaning robot 100 may acquire a first space map of the space to be cleaned at this step.

Among them, the cleaning robot 100 acquires the first space map of the space to be cleaned in the following six ways. For the first implementation manner, the cleaning robot 100 is provided with a laser radar, and accordingly, the step of acquiring the first space map of the space to be cleaned by the cleaning robot 100 may be: the cleaning robot 100 may detect a space to be cleaned through a laser radar installed on the cleaning robot 100, and obtain a first space map of the space to be cleaned.

For the second implementation, the cleaning robot 100 may acquire the first space map of the space to be cleaned by cleaning along the edge; accordingly, the step of the cleaning robot 100 acquiring the first space map of the space to be cleaned may be: the cleaning robot 100 cleans the edge of the space to be cleaned, and obtains a first space map according to the cleaning trajectory of the edge portion. When the space to be cleaned is a home space and the home space includes a plurality of room units, the cleaning robot 100 may clean an edge of the space to be cleaned by: the cleaning robot 100 cleans the edge of each room unit in the space to be cleaned.

For the third implementation manner, the cleaning robot 100 is provided with an inertial measurement unit and a collision sensor, and accordingly, the step of acquiring the first space map of the space to be cleaned by the cleaning robot 100 may be: the cleaning robot 100 detects a space to be cleaned using an inertial measurement unit and a collision sensor, and obtains a first space map of the space to be cleaned.

For the fourth implementation manner, the cleaning robot 100 is provided with a vision sensor, and accordingly, the step of acquiring the first space map of the space to be cleaned by the cleaning robot 100 may be: the cleaning robot 100 detects a space to be cleaned by a vision sensor, and obtains a first space map of the space to be cleaned.

For the fifth implementation manner, the server stores the first space map of the space to be cleaned, and the cleaning robot 100 acquires the first space map of the space to be cleaned from the server; accordingly, the step of the cleaning robot 100 acquiring the first space map of the space to be cleaned may be: the cleaning robot 100 sends an acquisition request to a server, wherein the acquisition request carries the area identifier of the space to be cleaned; the server receives the acquisition request, acquires a first space map of the space to be cleaned according to the area identifier, and sends the first space map of the space to be cleaned to the cleaning robot 100; the cleaning robot 100 receives a first space map of a space to be cleaned.

For the sixth implementation, the user directly inputs the first space map of the space to be cleaned to the cleaning robot 100 through the terminal. Accordingly, the step of acquiring the first space map by the cleaning robot 100 may be: the cleaning robot 100 receives a first space map of a space to be cleaned input from a terminal.

In the embodiment of the present application, the manner in which the cleaning robot 100 acquires the first space map is not particularly limited. In addition, the first space map acquired by the cleaning robot 100 may include the area size of the space to be cleaned, the location of the entrance, the location of the base station, the location of the door, or the like. When a plurality of room units are included in the space to be cleaned, the area size of each room unit, and the position of the door between two adjacent room units may be included in the first space map. In the embodiment of the present application, the space to be cleaned is one room unit, and the first space map obtained by the cleaning robot 100 may be the first space map shown in fig. 15, in which only one room unit is provided. The first space map obtained by the cleaning robot 100 may also be the first space map shown in fig. 16, in which there is only one room unit and there is a base station in the room unit.

Step S1402: the cleaning robot 100 determines the first space map, and performs the cleaning in step S1403, with the space to be cleaned or the subspace to be cleaned as the cleaning region when the first space map is regular.

Wherein the first space map rule is defined as: at least one path exists from any point in the first space map to the reference object and a moving path which does not have the direction opposite to the reference direction in the path is satisfied. The reference object is a base station or an entrance, the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting line area between the point and the reference object does not pass through the obstacle. The step of the cleaning robot 100 determining whether the first spatial map is regular may be: for any point in the first spatial map, the cleaning robot 100 determines at least one path from the point to a reference object; for each of the at least one path, the cleaning robot 100 determines whether there is a moving path in a direction opposite to the reference direction in the path; when there is no moving path in the opposite direction to the reference direction, the cleaning robot 100 determines a first space map rule; when there is a moving path in the opposite direction to the reference direction, the cleaning robot 100 determines that the first space map is irregular. When the first space map rule, the cleaning robot 100 performs step S1403.

For example, when the first space map is the map shown in fig. 15, there is no base station in the map, so that the door can be used as a reference object for the space to be cleaned, there is at least one path from any point in the map to the door and the moving path in the path without the opposite direction to the reference direction is satisfied, the reference direction is the direction in which any point in the map points to the door, and the connection area between the point and the door does not pass through the obstacle. Accordingly, the cleaning robot 100 determines the map rule. When the first space map is the map shown in fig. 16, there are a base station and a door in the map, for example, the base station is used as a reference object, there is at least one path from any point in the map to the door and a moving path in the opposite direction from any point in the map to the door is satisfied, the reference direction is a direction in which any point in the map points to the base station, and a connection area between the point and the base station does not pass through an obstacle. Accordingly, the cleaning robot 100 determines the map rule.

Step S1403: the cleaning robot 100 sets a cleaning direction to the cleaning area.

When the first space map rule is satisfied, the cleaning robot 100 directly uses the space to be cleaned or the subspace to be cleaned as the cleaning region. The first space map has only one cleaning area, and the cleaning direction of the one cleaning area is a reference direction. The reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting line area between the point and the reference object does not pass through the obstacle.

For example, when the first space map is the first space map shown in fig. 15 or 16, the maps shown in fig. 15 and 16 are both regular maps, and therefore, the cleaning robot 100 directly sets the cleaning direction as the reference direction for the cleaning area with the space to be cleaned or the subspace to be cleaned corresponding to the map as the cleaning area. In the map shown in fig. 15, the door in the map is a reference, and the reference direction may be a direction horizontally pointing to the door, that is, a cleaning direction, see fig. 17. For the map shown in fig. 16, when the base station in the map is a reference, the reference direction may be a direction pointing vertically to the base station, that is, a cleaning direction, see fig. 18.

Step S1404: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

This step can be implemented by any of the following implementations.

In a first implementation, the cleaning robot 100 may be implemented by the following steps (a1) to (a2), including:

(A1) the cleaning robot 100 searches for a first uncleaned point closest to a current first position of the cleaning robot 100 within the cleaning area based on the area map.

The cleaning robot 100 determines a current first position of the cleaning robot 100 in an area map, searches for a point closest to the current first position of the cleaning robot 100 in the area map according to the first position, and sets a position represented in the cleaning area by the point closest to the current first position of the cleaning robot 100 in the area map as a first uncleaned point.

When the cleaning robot 100 searches, the cleaning robot 100 may start searching from the current first position of the cleaning robot 100, so that the first uncleaned point closest to the current position of the cleaning robot 100 may be searched as soon as possible, thereby improving the search efficiency. Also, when the cleaning robot 100 searches for a plurality of unclean points closest to a current first position of the cleaning robot 100, the cleaning robot 100 may select a first unclean point from the plurality of unclean points. Here, the cleaning robot 100 may randomly select one unclean point from a plurality of unclean points, and use the selected unclean point as the first unclean point. The cleaning robot 100 may further select an uncleaned spot in a direction opposite to the cleaning direction from among the plurality of uncleaned spots based on the cleaning direction, and take the selected uncleaned spot as the first uncleaned spot.

It should be noted that the cleaning robot 100 selects an uncleaned point in a direction opposite to the cleaning direction from the plurality of uncleaned points as the first cleaning point, so as to ensure that the selected uncleaned point is a point away from the inlet edge, thereby further improving the subsequent cleaning efficiency.

(A2) The cleaning robot 100 searches for a second uncleaned point of the cleaning area, which is the uncleaned point farthest from the first uncleaned point in the cleaning direction, in a reverse direction of the cleaning direction within a preset length range perpendicular to the cleaning direction within the cleaning area.

The preset length may be smaller than the length of the edge of the cleaning region, thereby reducing the range of searching for the second unclean point to reduce the search time. The preset length can be set and changed according to needs, and in the embodiment of the application, the preset length is not specifically limited; for example, the preset length may be 1-body width, 2-body width, or 3-body width of the cleaning robot 100, or the like.

In this step, the cleaning robot 100 may also search for a second uncleaned point of the space to be cleaned directly in the opposite direction of the cleaning direction within the cleaning area, thereby ensuring that the searched second uncleaned point is the uncleaned point farthest from the first uncleaned point in the cleaning area, and further improving the subsequent cleaning efficiency.

(A3) The cleaning robot 100 determines a cleaning start point of the cleaning region based on the second unclean point.

In one possible implementation, the cleaning robot 100 directly uses the second unclean point as the cleaning start point of the cleaning region. In another possible implementation manner, the cleaning robot 100 determines whether there is an uncleaned point on the edge where the second uncleaned point is located, and when there is an uncleaned point on the edge where the second uncleaned point is located, the cleaning robot 100 moves to the end point of the edge, and the end point of the edge is used as the cleaning starting point of the cleaning area.

In a second implementation manner, the cleaning robot 100 may be implemented by the following steps (B1) to (B2), including:

(B1) the cleaning robot 100 scans, in the form of a scan line, a first uncleaned point within the cleaning area, which is the uncleaned point farthest from the first position in the cleaning direction, in the reverse direction of the cleaning direction, starting from the current first position of the cleaning robot 100 within the cleaning area based on the area map.

The cleaning robot 100 scans in the reverse direction of the cleaning direction in the area map by a form of a transverse scan line from a current first position of the cleaning robot 100, records a position of a third uncleaned spot when scanning the third uncleaned spot, and then continues the scanning, deletes the position of the third uncleaned spot when scanning a fourth uncleaned spot and a first distance between the third uncleaned spot and the current first position of the cleaning robot 100 is smaller than a second distance between the fourth uncleaned spot and the current first position of the cleaning robot 100, records a position of the fourth uncleaned spot, discards the position of the fourth uncleaned spot when the first distance is larger than the second distance, and then continues the scanning until the area map is scanned. The cleaning robot 100 maps the finally recorded position into the cleaning area, resulting in a first unclean point.

For example, when the first space map is the map shown in fig. 15 and the cleaning direction is the cleaning direction shown in fig. 17, the first uncleaned point finally determined by the cleaning robot 100 is P, see fig. 19; for another example, when the first space map is the map shown in fig. 16 and the cleaning direction is the cleaning direction shown in fig. 18, the first uncleaned point finally determined by the cleaning robot 100 is Q, see fig. 20.

(B2) The cleaning robot 100 determines a cleaning start point of the cleaning region based on the first unclean point.

In one possible implementation, the cleaning robot 100 directly uses the first unclean point as the cleaning start point of the cleaning region. In another possible implementation manner, the cleaning robot 100 determines whether there is an uncleaned point on the edge where the first uncleaned point is located, and when there is an uncleaned point on the edge where the first uncleaned point is located, moves to the end point of the edge, and takes the end point of the edge as the cleaning starting point of the cleaning area; when the first uncleaned point is not located on the edge, the first uncleaned point is directly used as the cleaning starting point of the cleaning area.

It should be noted that there may be multiple end points on the edge where the first unclean point is located; for example, there are two endpoints, a left endpoint and a right endpoint, respectively. The cleaning robot 100 may move to either end of the edge, for example, to the left end of the edge or to the right end of the edge.

In a third implementation, the cleaning robot 100 may be implemented by the following steps (C1) to (C2), including:

(C1) based on the area map, the cleaning robot 100 searches for a first uncleaned point of the cleaning area in the opposite direction of the cleaning direction with the entrance edge of the cleaning area as the start position of the cleaning robot 100 within the cleaning area, the first uncleaned point being the uncleaned point farthest from the start position of the cleaning area in the cleaning direction.

Here, the cleaning robot 100 may use any point on the entrance edge of the cleaning area as the start position of the cleaning robot 100. Here, the center point on the entrance side of the cleaning region is set as the start position of the cleaning robot 100, or the end point on the entrance side of the cleaning region is set as the start position of the cleaning robot 100. For example, the left end point of the entrance side of the cleaning region is set as the start position of the cleaning robot 100, or the right end point of the entrance side of the cleaning region is set as the start position of the cleaning robot 100.

(C2) The cleaning robot 100 determines a cleaning start point of the cleaning region based on the first unclean point.

This step S is the same as step (B2), and will not be described herein.

In a fourth implementation, the cleaning robot 100 may be implemented by the following steps (D1) to (D2), including:

(D1) the cleaning robot 100 searches for a first uncleaned point closest to a current first position of the cleaning robot 100 within the cleaning area based on the area map.

This step is the same as step (a1), and will not be described herein.

(D2) The cleaning robot 100 determines a cleaning start point of the cleaning region based on the first unclean point.

This step is the same as step (B2), and will not be described herein.

It should be noted that the cleaning robot 100 may determine the cleaning start point of the cleaning area through any one of the above four implementations. The cleaning robot 100 may also select any one of the above-described four implementations to determine a cleaning start point of the cleaning region according to the current first position of the cleaning robot 100. For example, when the current first position of the cleaning robot 100 is within the cleaning area, the cleaning robot 100 may determine the cleaning start point of the cleaning area through the above first implementation, second implementation, and fourth implementation. When the current first position of the cleaning robot 100 is not within the cleaning area, the cleaning robot 100 may determine the cleaning start point of the cleaning area through the above third implementation.

Step S1405: the cleaning robot 100 performs a cleaning operation on a cleaning region of a space to be cleaned in a cleaning direction from a cleaning start point.

In this step, the cleaning robot 100 moves from the cleaning start point along a zigzag trajectory in units of cleaning areas, the zigzag trajectory gradually advancing in the cleaning direction and being folded back and forth in a direction perpendicular to the cleaning direction. For example, when the cleaning robot 100 determines the cleaning start point as shown in fig. 19 in units of cleaning areas, the cleaning robot 100 gradually advances in a horizontal direction in a zigzag trajectory starting from point P, see fig. 21. When the cleaning robot 100 determines the cleaning start point to be shown in fig. 20 in units of cleaning areas, the cleaning robot 100 gradually advances in a vertical direction in a zigzag trajectory starting from the point Q, see fig. 22.

It should be noted that, when the cleaning robot 100 encounters an obstacle during the cleaning operation, the cleaning robot 100 first moves around the obstacle while the cleaning member cleans the floor, thereby cleaning the floor along the obstacle. Since the first space map acquired by the cleaning robot 100 in step S1401 does not include information about obstacles, the cleaning robot 100 may detect obstacles by a sensor provided in the cleaning robot 100 during the cleaning process, and may detect information about obstacles comprehensively, particularly after surrounding the obstacles. The information of the obstacle mainly includes a crossing distance, a coverage area, and the like of the obstacle. Since there is only one cleaning region in the embodiment of the present application, the cleaning robot 100 may perform the cleaning operation in the original cleaning direction after encountering an obstacle.

In all embodiments of the present application, when the battery power in the cleaning robot 100 is insufficient and reaches the power threshold, the cleaning robot 100 records the current cleaning position, moves to the base station to perform the charging operation, returns to the cleaning position after the charging operation is completed, and continues to perform the cleaning operation. When the degree of soiling of a cleaning member of the cleaning robot 100 reaches a soiling threshold, or the cleaning time of the cleaning member reaches a time threshold, the cleaning robot 100 records the current cleaning position, the cleaning robot 100 moves to a base station to perform the cleaning operation of the cleaning member, and after the cleaning operation is completed, the cleaning robot 100 returns to the cleaning position to continue to perform the cleaning operation. In addition, the cleaning robot 100 may perform the charging operation and the washing operation at the same time at the base station.

It should be noted that the cleaning robot 100 is provided with a cleaning member for the cleaning robot 100 to perform a cleaning operation on the floor. The cleaning member is a mopping module or a sweeping module, when the cleaning member is the mopping module, the mopping module is used for mopping and cleaning the ground, and the mopping module can be a mop cloth. When the cleaning piece is a sweeping module, the sweeping module is used for sweeping and cleaning the ground, and the sweeping module can be a sweeping brush.

Example 2

An embodiment of the present application provides a cleaning control method, referring to fig. 23, where a room to be cleaned is taken as a room unit, the room unit is an irregular room unit, the cleaning robot 100 scans a first space map through a transverse scanning line, divides the space to be cleaned into at least one cleaning area, and directly uses a loop-free connected graph as an area sequence tree, and sets a cleaning order according to the area sequence tree, and the cleaning control method is described as an example where no obstacle is encountered during a cleaning operation performed on the room unit, and the method includes:

Step S2301: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S2301 is the same as step S1401, and will not be described herein again. For example, the first spatial map acquired by the cleaning robot 100 is a map shown in fig. 24.

Step S2302: the cleaning robot 100 determines the first space map, and when the first space map is irregular, performs step S2303.

In this step, the process of determining the first space map by the cleaning robot 100 is the same as that of step S1402, and is not described herein again. Wherein, when the first space map is irregular, the cleaning robot 100 performs step S2303.

For example, when the first space map acquired by the cleaning robot 100 is the first space map shown in fig. 24, the map has only doors, the cleaning robot 100 uses the doors as a reference, there is at least one path from a point in the map to the doors, but there is a moving path in the opposite direction to the reference direction from the point in the map, the reference direction is the direction in which any point in the map points to the doors, and the connecting line area between the point and the doors does not pass through an obstacle, so the map is irregular. The cleaning robot 100 performs step S2303.

Step S2303: the cleaning robot 100 divides the space to be cleaned into at least one cleaning region by scanning the first space map through the transverse scan line based on the first space map.

Before this step, the cleaning robot 100 sets a rectangular reference coordinate system including the X-axis and the Y-axis with the reference as the origin. The reference direction can be vertical to the X axis, and is the positive direction of the Y axis; or the reference direction may be perpendicular to the Y axis, the reference direction being the positive X-axis direction. In the embodiments of the present application, this is not particularly limited. For example, the cleaning robot 100 sets the reference direction as the positive Y-axis direction.

This step can be realized by the following steps (1) to (4), including:

(1) at the position of the reference object, the cleaning robot 100 scans the first space map by the transverse scan line.

The transverse scanning line is vertical to the reference direction, and the reference direction is the positive direction of the Y axis. When the cleaning robot 100 scans the first space map by the horizontal scanning line, the first space map is scanned in the Y-axis positive direction or the Y-axis negative direction with the position of the reference object as a starting point. The cleaning robot 100 may scan the first space map every time it passes through the transverse scan line while scanning the first space map by the transverse scan line, and determine whether there is an unscanned area in the first space map in the Y-axis positive direction or the Y-axis negative direction. When the cleaning robot 100 determines that there is an unscanned area in the first space map in the positive direction along the Y-axis, the cleaning robot 100 performs step (2); when the cleaning robot 100 determines that there is an unscanned area in the negative direction along the Y-axis in the first spatial map, the cleaning robot 100 performs step (3). When the cleaning robot 100 scans the first space map through the transverse scanning line, the first space map may be scanned first along the positive Y-axis direction, or the first space map may be scanned first along the negative Y-axis direction, or the first space map may be scanned simultaneously along the positive Y-axis direction and the negative Y-axis direction.

The horizontal scanning line is a scanning line in the horizontal direction, and the horizontal scanning line may start from one side edge of the first space map and stop when reaching the other side edge. For example, a horizontal scan line starts from the left edge of the first space map, stops when it reaches the right edge; or starting from the right edge of the first space map and stopping by reaching the left edge. In the embodiments of the present application, this is not particularly limited. The thickness of the transverse scan line may be set and changed as needed, and is not particularly limited in the embodiment of the present application. In addition, when the cleaning robot 100 scans the first space map through the transverse scan line, the cleaning robot 100 does not need to move, and the cleaning robot 100 may scan the first space map through a scanner inside the cleaning robot 100.

For example, for the first space map shown in fig. 24, the cleaning robot 100 may use a direction in which any point in the map points to a door as a reference direction, for example, a direction perpendicular to the door or a direction forming an angle of 45 ° with the direction perpendicular to the door as a reference direction, which is not particularly limited in the embodiment of the present application.

(2) If the scanned area in the first space map has an adjacent and unscanned area in the Y-axis positive direction, the cleaning robot 100 advances the transverse scan line in the Y-axis positive direction to scan the adjacent and unscanned area.

In one possible implementation, the cleaning robot 100 determines whether there is an unscanned area in the Y-axis positive direction every time the cleaning robot 100 scans the first space map in the Y-axis positive direction through the transverse scan line. When there is an unscanned area, the cleaning robot 100 advances a first interval in the positive Y-axis direction, scans a first space map at the first interval from the last lateral scan line, and the cleaning robot 100 determines whether there is an unscanned area in the positive Y-axis direction. When there is an unscanned area, the cleaning robot 100 continues to advance the first interval in the Y-axis positive direction until there is no unscanned area in the Y-axis positive direction, and the cleaning robot 100 performs step (4).

(3) If the scanned area in the first space map has an adjacent and unscanned area in the Y-axis negative direction, the cleaning robot 100 advances the transverse scan line in the Y-axis negative direction to scan the adjacent and unscanned area.

This step is similar to step (2), and the cleaning robot 100 determines whether there is an unscanned area in the Y-axis negative direction every time the cleaning robot 100 scans the first space map once in the Y-axis negative direction through the transverse scan line. When there is an unscanned area, the cleaning robot 100 advances a first interval in the Y-axis negative direction, scans a first space map at the first interval from the last transverse scan line scan, and the cleaning robot 100 determines whether there is an unscanned area in the Y-axis negative direction. When there is an unscanned area, the cleaning robot 100 continues to advance in the Y-axis negative direction for the first interval until there is no unscanned area in the Y-axis negative direction, and the cleaning robot 100 performs step (4).

For example, referring to fig. 25 and 26, fig. 25 is a schematic view of scanning the first space map shown in fig. 24 by a transverse scan line in a direction perpendicular to the door direction as a reference direction; fig. 26 is a schematic view of the first space map shown in fig. 24 scanned by scanning lines in a direction forming an angle of 45 ° with a direction perpendicular to the door direction as a reference direction.

(4) The cleaning robot 100 merges continuous areas scanned in the same direction with a position where a segment occurs by a length of a horizontal scanning line cut by the first space map and an edge of the first space map as a boundary line, thereby dividing the space to be cleaned into at least one cleaning area.

In this step, the cleaning robot 100 merges the areas scanned in the positive Y-axis direction into one cleaning area and merges the areas scanned in the negative Y-axis direction into one cleaning area, with the position where the segment occurs in the length of the horizontal scanning line cut by the first space map and the edge of the first space map as boundary lines. And, when the horizontal scan line is segmented, the cleaning robot 100 merges the areas scanned in the same direction into one cleaning area from the segmented scan line until the horizontal scan line is segmented again or reaches the edge of the first space map. The cleaning robot 100 repeatedly performs the above-described process until all room units in the space to be cleaned are traversed. Referring to fig. 27, fig. 27 is a view showing a plurality of cleaning regions obtained by combining the regions scanned in the same direction shown in fig. 25 according to the above-described procedure. Referring to fig. 28, fig. 28 is a view showing a plurality of cleaning regions obtained by combining the regions scanned in the same direction as shown in fig. 26.

In a possible implementation manner, after the cleaning robot 100 divides the space to be cleaned into at least one cleaning region through the above steps, step S1404 may be directly performed.

In another possible implementation manner, after the cleaning robot 100 performs step S1403, the area of each divided cleaning region may be determined, and when the area of each cleaning region is smaller than a preset value, the cleaning robot 100 merges the cleaning region with other adjacent cleaning regions having areas larger than the preset value, and then performs step S2304. Accordingly, the step of the cleaning robot 100 combining the cleaning region with other adjacent cleaning regions having an area larger than a preset value may be: the cleaning robot 100 merges the cleaning area to the cleaning area scanned by the scanning line advanced in the same direction. In another possible implementation manner, after the cleaning robot 100 performs step S2303, the ratio of the length to the width of each cleaning region may be determined, and for each cleaning region, when the ratio of the length to the width of the cleaning region is greater than the preset ratio, the cleaning robot 100 merges the cleaning region with other adjacent cleaning regions having the ratio less than the preset ratio, and then performs step S2304. Wherein the length of the cleaning region is the length of a side parallel to the reference direction, and the width of the cleaning region is the length of a side perpendicular to the reference direction.

The preset value and the preset ratio can be set and changed according to needs, and are not specifically limited in the embodiment of the present application.

Step S2304: the cleaning robot 100 sets a node representing each cleaning area.

The cleaning robot 100 represents each of the plurality of cleaning regions by a node, one node representing one cleaning region, and one node connected to at least one node. The nodes comprise a top node, a father node and a child node, the two nodes are connected, the node close to the top node is the father node, the node far away from the top node is the child node, a clean area represented by the father node is adjacent to a clean area represented by the child node, or one of the father node and the child node represents an isolated clean area, and the other node represents a clean area closest to the isolated clean area. The top node represents the clean area where the reference is located.

Step S2305: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

The cleaning robot 100 constructs a connected graph of the cleaning regions by connecting two nodes when the cleaning regions represented by any two nodes are adjacent to each other or one of the nodes represents an isolated cleaning region and the other node represents a cleaning region closest to the isolated cleaning region according to the connected relationship between the cleaning regions.

An isolated cleaning region refers to a cleaning region that is not adjacent to any other cleaning region. The cleaning regions represented by two nodes connected in the connectivity graph are adjacent, or one node represents an isolated cleaning region and the other node represents the cleaning region closest to the isolated cleaning region. Correspondingly, the steps can be as follows: the cleaning robot 100 selects a plurality of sets of nodes from the plurality of nodes, each set of nodes including a first node and a second node, the cleaning region represented by the first node being adjacent to the cleaning region represented by the second node, or the cleaning region represented by the first node being an isolated cleaning region, the cleaning region represented by the second node being closest to the isolated cleaning region. For each group of nodes, the cleaning robot 100 connects the first node and the second node to obtain the connection relationship of the group of nodes, and generates a connectivity graph according to the connection relationship of each group of nodes.

Wherein the step of connecting the cleaning robot 100 to the first node and the second node may be: when there is a node indicating the cleaning area where the reference object is located, among the first node and the second node, the cleaning robot 100 takes the node indicating the cleaning area where the reference object is located as a top node and takes the other node as a child node of the top node. For example, if the first node is a node indicating a cleaning area where the reference is located, the cleaning robot 100 uses the first node as a top node and uses the second node as a child node of the first node.

When there is no node indicating the cleaning region where the reference object is located, but there is a node indicating that the cleaning region is connected to the cleaning region where the reference object is located, the cleaning robot 100 sets a node indicating that the cleaning region is adjacent to the cleaning region where the reference object is located as a child node of the top node, and sets a node indicating that the cleaning region is not adjacent to the cleaning region where the reference object is located as a child node of the node. For example, if the cleaning area represented by the first node is adjacent to the cleaning area of the reference object, the cleaning robot 100 uses the first node as a child node of the top node and uses the second node as a child node of the first node.

When there is no node indicating the cleaning region where the reference object is located, and there is no node indicating the cleaning region adjacent to the cleaning region where the reference object is located, among the first node and the second node, the cleaning robot 100 determines a first distance between the cleaning region indicated by the first node and the cleaning region where the reference object is located, and determines a second distance between the cleaning region indicated by the second node and the cleaning region where the reference object is located; when the first distance is larger than the second distance, the first node is taken as a child node of the second node; and when the first distance is smaller than the second distance, the first node is taken as a parent node of the second node.

Step S2306: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

When there is only one path from any node in the connected graph other than the top node to the top node, the connected graph is a loop-free connected graph, and the cleaning robot 100 directly uses the loop-free connected graph as the region sequence tree.

For example, with respect to the

cleaning areas

1 and 2 shown in fig. 27, a connected graph obtained by the cleaning robot 100 is shown in fig. 29, in which the node indicating the cleaning area 1 is a top node and the node indicating the cleaning area 2 is a child node of the top node. In fig. 29, there is only one path from the child node to the top node, and therefore, the cleaning robot 100 directly uses the connected graph as the area sequence tree.

It should be noted that the cleaning robot 100 may use the reference number of the cleaning area as the reference number of the node. For example, node 1 represents clean area 1 and node 2 represents clean area 2. In the embodiments of the present application, this is not particularly limited.

Step S2307: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

This step can be realized by the following steps (1) to (4), including:

(1) The cleaning robot 100 determines a first target cleaning region based on the region order tree.

The first target cleaning region is a cleaning region of the space to be cleaned which is first cleaned.

When the cleaning robot 100 is at the current first position within the space to be cleaned, this step may be implemented by the following steps (1-1) to (1-4), including:

(1-1) the cleaning robot 100 determines a first cleaning region closest to a current first position of the cleaning robot 100 in the first spatial map.

In this step, the cleaning robot 100 first determines a current first position of the cleaning robot 100. Wherein the cleaning robot 100 may periodically position itself to acquire the current first position of the cleaning robot 100. The first position may be either inside or outside the space to be cleaned.

The cleaning robot 100 determines a first cleaning region closest to the first position based on the first position in the first spatial map. Accordingly, the steps may be: the cleaning robot 100 determines a first cleaning region by a distance between the first position and each cleaning region. Among them, the distance between the current first position of the cleaning robot 100 and each cleaning region may be the distance between the first position and the geometric center of each cleaning region. The cleaning robot 100 determines a distance between the first position and a geometric center of each cleaning region, and selects a cleaning region closest to the first position from among a plurality of distances, taking the cleaning region as a first cleaning region.

(1-2) the cleaning robot 100 determines whether a leaf node exists in the target sub-tree with the first cleaning region as a start node based on the region order tree.

The target sub-tree is a local region order tree with the starting node as the top node in the region order tree. The leaf node is a node in the region sequence tree, wherein a father node and no son node exist in the region sequence tree. The cleaning robot 100 determines whether there is a leaf node in the target sub-tree, and when there is a leaf node, the cleaning robot 100 performs the step (1-3); when there is no leaf node, the cleaning robot 100 performs the step (1-4).

(1-3) when there is a leaf node in the target sub-tree, the cleaning robot 100 selects a leaf node from the leaf nodes of the target sub-tree, and takes the cleaning region represented by the selected leaf node as the first target cleaning region.

The step of the cleaning robot 100 selecting a leaf node from the target subtree may be: when the target sub-tree includes a plurality of leaf nodes, the cleaning robot 100 selects a leaf node representing a cleaning region closest to the first position from the plurality of leaf nodes. The leaf node selected by the cleaning robot 100 through the method may minimize the moving distance of the cleaning robot 100, improving the cleaning efficiency. The step of selecting, by the cleaning robot 100, a leaf node, from the plurality of leaf nodes, which represents a closest leaf node of the cleaning area to the first position may be: the cleaning robot 100 determines a distance from a geometric center of the cleaning region represented by each leaf node to the first position, and selects a leaf node corresponding to the cleaning region having the smallest distance from among the plurality of distances.

(1-4) when there is no leaf node in the target subtree, the cleaning robot 100 takes the cleaning region indicated by the start node as the first target cleaning region.

When there is no leaf node in the target sub-tree, the cleaning robot 100 directly takes the first cleaning region represented by the start node as the first target cleaning region.

When the cleaning robot 100 is not in the space to be cleaned at the current first position, the cleaning robot 100 arbitrarily selects a leaf node from leaf nodes of the area sequential tree directly based on the area sequential tree, and takes a cleaning area represented by the leaf node as a first target cleaning area; the cleaning robot 100 may also select a leaf node with the farthest distance between the cleaning region represented by the leaf node and the cleaning region where the reference object is located from the leaf nodes, use the cleaning region represented by the leaf node as the first target cleaning region, and subsequently cause the cleaning robot 100 to gradually perform cleaning operations from far to near, so as to avoid the cleaning region from being contaminated by the cleaned cleaning region, thereby improving the cleaning efficiency.

(2) The cleaning robot 100 inquires about a parent node of a first target node indicating a first target cleaning area based on the area sequence tree, inquires about whether the parent node of the first target node has a child node indicating a non-first target cleaning area, if not, sets a cleaning area indicated by the parent node of the first target node as a second target cleaning area, and if so, sets a cleaning area indicated by a lowest node among the child nodes as a second target cleaning area.

The second target cleaning region is the next cleaning region to be cleaned after the first target cleaning region.

The cleaning robot 100 queries a parent node of a first target node representing a first target cleaning area from the area sequential tree based on the area sequential tree. And when the parent node of the first target node has a child node except the first target node, taking the child node as the parent node, determining whether the child node has the child node, and repeating the operation until the bottommost node of the child node is determined and the clean area represented by the bottommost node is taken as a second target clean area. When the parent node of the first target node does not have a child node other than the first target node, the cleaning robot 100 takes the cleaning area represented by the parent node as the second target cleaning area.

(3) The cleaning robot 100 inquires about a parent node of a second target node indicating a second target cleaning area based on the area sequence tree, inquires about whether the parent node of the second target node has a child node indicating a non-first target cleaning area and a non-second target cleaning area, if not, takes the cleaning area indicated by the parent node of the second target node as a third target cleaning area, and if so, takes the cleaning area indicated by the lowest node of the child nodes as the third target cleaning area.

The third target cleaning region is the next cleaning region to be cleaned after the second target cleaning region. The step of the cleaning robot 100 determining the third target cleaning region in this step is similar to the step (2) described above, and is not described again here.

(4) The cleaning robot 100 inquires the third target cleaning region in the region order tree until the cleaning region represented by the top node is set as the last target cleaning region.

The cleaning robot 100 determines the third target cleaning region, the fourth target cleaning region according to the above-described method until the cleaning region indicated by the top node is set as the last target cleaning region. Wherein the top node represents the cleaning zone that was last cleaned in the cleaning sequence.

For example, with respect to the area sequence tree obtained in fig. 29, the cleaning robot 100 determines that the node indicating the cleaning area 1 is the top node and the node indicating the cleaning area 2 is a child node of the top node, and therefore, the cleaning robot 100 determines that the first target cleaning area is the cleaning area 2 and the cleaning area 1 is a cleaning area to be cleaned after the cleaning area 2.

Step S2308: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S2309 when the area map is regular, or performs the cleaning in step S2303 with the area map as a first space map and the cleaning area as a space to be cleaned or a subspace to be cleaned.

The definition of the regional map rule is as follows: at least one path exists from any point in the regional map to the entrance and the exit, and the moving path which does not tend to the direction opposite to the direction of the entrance and the exit in the paths is satisfied. An entrance is arranged between the two cleaning areas, and for any cleaning area, when a connecting line area between any point in the cleaning area and the entrance does not pass through an obstacle, the direction of the point pointing to the entrance is defined as the direction of the entrance of the cleaning area, and the directions of the entrances and the exits of the two adjacent cleaning areas are opposite. The step of determining whether the area map is regular by the cleaning robot 100 is similar to the step of determining the first space map rule by the cleaning robot 100 in step S1402, and will not be described herein again.

In this step, when the area map is irregular, the cleaning robot 100 sets the area map as the first space map, sets the cleaning area as the space to be cleaned or the subspace to be cleaned, and executes step S2303; when the area map rule, the cleaning robot 100 performs step S2309.

For example, when the cleaning regions divided by the cleaning robot 100 are the cleaning region 1 and the cleaning region 2 shown in fig. 27, an entrance is provided between the cleaning region 1 and the cleaning region 2, and for the cleaning region 1, at least one path exists from any point in the cleaning region to the entrance and the exit and a moving path in which there is no opposite direction to the direction of the entrance and the exit of the cleaning region is satisfied, and therefore, the cleaning region 1 is regular; for the cleaning area 2, there is a path from any point in the cleaning area to the entrance and exit and a moving path in the opposite direction of the entrance and exit of the cleaning area is satisfied, so the cleaning area 2 is regular. The cleaning robot 100 performs step S2309.

Step S2309: the cleaning robot 100 sets a cleaning direction to the cleaning area.

For the top node in the area order tree, the cleaning robot 100 configures the cleaning area represented by the top node to have the same cleaning direction as the reference direction, which is the direction pointing to the reference object.

For any child node in the area order tree that is not the top node, the cleaning robot 100 configures the cleaning direction of the cleaning area represented by the child node to point to the cleaning area represented by the parent node of the child node, and the cleaning direction of the cleaning area represented by the child node is parallel or perpendicular to the reference direction.

In the case where the cleaning region is the cleaning region merged by the cleaning robot 100 in step S2303, the step of setting the cleaning direction in the merged cleaning region by the cleaning robot 100 may be implemented in any one of the following manners.

In a first implementation, the cleaning robot 100 merges a cleaning region having an area smaller than a preset value with other adjacent cleaning regions having an area larger than the preset value. For the combined cleaning regions, the cleaning direction of the combined cleaning region is the cleaning direction of the cleaning region which is adjacent to the cleaning region with the area smaller than the preset value and is larger than the preset value.

In a second implementation, the cleaning robot 100 merges a cleaning region having a length-to-width ratio greater than a preset ratio with other adjacent cleaning regions having a ratio greater than the preset ratio. For the combined cleaning area, the cleaning direction of the combined cleaning area is the cleaning direction of the cleaning area which is adjacent to the cleaning area with the ratio being greater than the preset ratio and the ratio being smaller than the preset ratio.

Referring to fig. 30, fig. 30 is a schematic view of the cleaning direction arranged for the cleaning region obtained in fig. 27. Referring to fig. 31, fig. 31 is a schematic view showing a cleaning direction arranged for the cleaning region obtained in fig. 28.

Step S2310: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

For example, for the cleaning area and the cleaning direction shown in fig. 30, the first uncleaned point finally determined by the cleaning robot 100 is R, see fig. 32.

This step is the same as step S1404, and is not described herein again.

Step S2311: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

In this step, the cleaning robot 100 moves along a zigzag trajectory from a cleaning start point of the first target cleaning region in the cleaning direction of the first target cleaning region in units of cleaning regions, and performs a cleaning operation on the first target cleaning region; after the cleaning operation is performed on the first target cleaning region, the cleaning robot 100 moves along the zigzag trajectory from the second cleaning start point of the second target cleaning region in the cleaning direction of the second target cleaning region to perform the cleaning operation on the second target cleaning region; after the cleaning operation is performed on the second target cleaning region, the cleaning robot 100 moves along the zigzag trajectory from the third cleaning start point of the third target cleaning region in the cleaning direction of the third target cleaning region, and performs the cleaning operation on the third target cleaning region until the cleaning operation is performed on the cleaning region where the reference object is located.

It should be noted that, after the cleaning robot 100 performs a cleaning operation on a cleaning region, the cleaning robot may move from the cleaning region to a next cleaning region based on a preset navigation path for moving from the cleaning region to the next cleaning region, and perform the cleaning operation on the next cleaning region.

The cleaning robot 100 moves along a zigzag track which is gradually advanced in the cleaning direction and is folded back and forth in a direction perpendicular to the cleaning direction when performing a cleaning operation. Referring to fig. 33, fig. 33 is a schematic view of the cleaning region of fig. 32 moving along a zigzag trajectory.

Example 3

Referring to fig. 34, in the embodiment of the present application, a room to be cleaned is taken as a room unit, the room unit is an irregular room unit, the cleaning robot 100 scans a first space map through a transverse scanning line, divides the space to be cleaned into at least one cleaning area, performs a ring removal process on a connected graph with rings to obtain an area sequence tree, sets a cleaning sequence according to the area sequence tree, and describes an example where no obstacle is encountered during a cleaning operation performed on the room unit, the method includes:

step S3401: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S3402: the cleaning robot 100 determines the first space map, and when the first space map is irregular, performs step S3403.

Step S3403: the cleaning robot 100 divides the space to be cleaned into at least one cleaning region by scanning the first space map through the transverse scan line based on the first space map.

Step S3404: the cleaning robot 100 sets a node representing each cleaning area.

Step S3405: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Steps S3401-S3405 are the same as steps S2301-S2305, respectively, and are not described herein again.

Step S3406: when there are multiple paths from a node in the connected graph, which is not the top node, to the top node, the cleaning robot 100 performs a ring removal process on the connected graph to obtain a region sequence tree.

The ring is a ring path formed by sequentially connecting at least three nodes, and the ring enables a plurality of paths from a node with a non-top node to the top node in the connected graph. In this step, after the cleaning robot 100 performs the ring removal process on the circular path, there is only one path from any node other than the top node to the top node in the obtained area sequence tree. The cleaning robot 100 may perform a ring removal process on the circular path through any algorithm. For example, the cleaning robot 100 may use a minimum spanning tree algorithm, a maximum flow minimum cut algorithm, or a Tarjan algorithm. In the embodiment of the present application, the algorithm is not particularly limited.

In one possible implementation, the cleaning robot 100 may perform a ring-removal process by a minimum spanning tree algorithm to obtain a region sequence tree. Accordingly, the steps may be: the cleaning robot 100 configures a weight between two connected nodes, determines a path weight from each node to a top node in a circular path according to the weight between the two connected nodes, selects a path with the minimum path weight according to the path weight from each node to the top node, and deletes a connecting line between two nodes corresponding to unselected paths in the circular path to obtain a region sequence tree.

Wherein, for each node in the circular path, the step of the cleaning robot 100 determining the path weight of the node to the top node according to the weight between the two connected nodes may be: the cleaning robot 100 determines the sum of the weights between the nodes in the path between the node to the top node as the path weight of the node to the top node. The cleaning robot 100 may use a value of a connecting line between two nodes to represent a weight, or may use a distance between two centroids of two adjacent cleaning regions to represent a weight, which is not specifically limited in the embodiment of the present application.

Referring to fig. 35, the cleaning robot 100 uses a numerical value of a connecting line between two nodes to represent a weight, a node 5 in the drawing represents a top node, and the region sequence tree shown in fig. 36 is obtained after the connected graph shown in fig. 35 is processed by the minimum spanning tree algorithm.

In another possible implementation, when there are multiple paths from a node in the connectivity graph that is not the top node to the top node, the rings in the connectivity graph constitute strongly connected components. The cleaning robot 100 may perform a ring removal process on the connected graph by using a Tarjan algorithm to obtain a region sequence tree. Accordingly, the steps may be: the cleaning robot 100 performs in-loop edge deletion on the loop by using a Tarjan algorithm, changes the strongly connected component into a non-edge connected component, and obtains a region sequence tree.

Referring to fig. 37,

nodes

1, 2, 3, and 4 in the graph form a strongly connected component, and the cleaning robot 100 performs in-loop edge deletion using the Tarjan algorithm with node 3 as an initial node and node 2 as a final node, to obtain the region sequence tree shown in fig. 38 or fig. 39.

Step S3407: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

For example, for the area sequence tree shown in fig. 38, the cleaning robot 100 first cleans the cleaning area represented by the node 6, then sequentially cleans the cleaning area represented by the node 3, the cleaning area represented by the node 1, the cleaning area represented by the node 4, and the cleaning area represented by the node 2, and finally cleans the cleaning area represented by the node 5, that is, the cleaning order is the node 6, the node 3, the node 1, the node 4, the node 2, and the node 5.

For the area sequence tree shown in fig. 39, the cleaning robot 100 first cleans the cleaning area represented by the node 6, then sequentially cleans the cleaning area represented by the node 3, the cleaning area represented by the node 4, the cleaning area represented by the node 1, and the cleaning area represented by the node 2, and finally cleans the cleaning area represented by the node 5, that is, the cleaning sequence is the node 6, the node 3, the node 4, the node 1, the node 2, and the node 5.

The remaining steps are the same as step S2307, and are not described in detail here.

Step S3408: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S3409 when the area map is regular, or performs the cleaning in step S3403 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S3409: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S3410: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S3411: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S3408 to S3411 are the same as steps S2308 to S2311, respectively, and are not described herein again.

Example 4

Referring to fig. 40, the cleaning control method according to the embodiment of the present application takes a space to be cleaned as a room unit, the room unit is an irregular room unit, the cleaning robot 100 scans a first space map through a longitudinal scanning line, divides the space to be cleaned into at least one cleaning area, directly uses a loop-free connected graph as an area sequence tree, sets a cleaning sequence according to the area sequence tree, and illustrates an example that no obstacle is encountered during a cleaning operation performed on the room unit, the method includes:

step S4001: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

This step is the same as step S2301, and is not described herein again.

For example, the first space map acquired by the cleaning robot 100 is the space map shown in fig. 41.

Step S4002: the cleaning robot 100 determines the first space map, and when the first space map is irregular, performs step S4003.

This step is the same as step S2302 and is not described herein again.

Step S4003: the cleaning robot 100 scans the first space map by a longitudinal scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region.

This step can be realized by the following steps (1) to (4), including:

(1) at the position of the reference object, the cleaning robot 100 scans the first space map by the longitudinal scan line.

The longitudinal scanning lines are parallel to the reference direction, and the reference direction is the positive direction of the Y axis. When the cleaning robot 100 scans the first space map by the vertical scanning line, the first space map is scanned in the positive X-axis direction or the negative X-axis direction, starting from the position of the reference object. The cleaning robot 100 may determine whether there is an unscanned area in the first space map in the positive X-axis direction or the negative X-axis direction every time the first space map is scanned by the longitudinal scanning line while scanning the first space map by the longitudinal scanning line. When the cleaning robot 100 determines that there is an unscanned area in the first space map in the positive direction along the X-axis, the cleaning robot 100 performs step (2); when the cleaning robot 100 determines that there is an unscanned area in the negative direction along the X-axis in the first space map, the cleaning robot 100 performs step (3). When the cleaning robot 100 scans the first space map through the longitudinal scanning line, the first space map may be scanned along the positive direction of the X axis first, or the first space map may be scanned along the negative direction of the X axis first, which is not specifically limited in this embodiment of the application.

The vertical scanning line is a scanning line in the vertical direction, and the vertical scanning line may start from one side edge of the first space map and stop when reaching the other side edge. For example, the vertical scan line starts from the top edge of the first space map, stops when reaching the bottom edge; or starting from the bottom edge of the first space map and stopping by reaching the top edge. In the embodiments of the present application, this is not particularly limited. The thickness of the longitudinal scanning line can be set and changed as required, and is not particularly limited in the embodiment of the present application.

(2) If there is an adjacent and unscanned area in the area that has been scanned in the first space map in the positive X-axis direction, the cleaning robot 100 advances the longitudinal scan line in the positive X-axis direction to scan the adjacent and unscanned area.

In one possible implementation, the cleaning robot 100 determines whether there is an unscanned area in the positive X-axis direction every time the cleaning robot 100 scans the first space map once in the positive X-axis direction through the longitudinal scan line. When there is an unscanned area, the cleaning robot 100 advances in the positive X-axis direction by a second interval, scans the first space map at the second interval from the last longitudinal scan line, and the cleaning robot 100 determines whether there is an unscanned area in the positive X-axis direction. When there is an unscanned area, the cleaning robot 100 continues to advance by the second interval in the positive X-axis direction until there is no unscanned area in the positive X-axis direction, and the cleaning robot 100 performs step (4).

(3) If the scanned area in the first space map has an adjacent and unscanned area in the negative X-axis direction, the cleaning robot 100 advances the longitudinal scan line in the negative X-axis direction to scan the adjacent and unscanned area.

Similar to the step (2), the cleaning robot 100 determines whether there is an unscanned area in the negative X-axis direction every time the cleaning robot 100 scans the first space map once in the negative X-axis direction through the longitudinal scan line. When there is an unscanned area, the cleaning robot 100 advances a second interval in the X-axis negative direction, scans the first space map at the second interval from the last longitudinal scan line scan, and the cleaning robot 100 determines whether there is an unscanned area in the X-axis negative direction. When there is an unscanned area, the cleaning robot 100 continues to advance by the second interval in the X-axis negative direction until there is no unscanned area in the X-axis negative direction, and the cleaning robot 100 performs step (4). Referring to fig. 42, fig. 42 is a schematic view illustrating the first space map of fig. 41 scanned by longitudinal scan lines according to the above-described steps.

(4) The cleaning robot 100 merges the areas scanned in the same direction with the position where the segment occurs by the length of the longitudinal scanning line cut by the first space map and the edge of the first space map as a boundary line, thereby dividing the space to be cleaned into at least one cleaning area.

In this step, the cleaning robot 100 merges the areas scanned in the positive direction of the X axis into one cleaning area and merges the areas scanned in the negative direction of the X axis into one cleaning area, with the position where the segment occurs in the length of the longitudinal scanning line cut by the first space map and the edge of the first space map as boundary lines. Alternatively, the cleaning robot 100 sets an area as a cleaning area in a range adjacent to the reference before combining areas scanned in the same direction. In the embodiments of the present application, the size of the area of the cleaning region adjacent to the reference is not particularly limited.

The cleaning robot 100 merges the areas scanned in the positive X-axis direction into one cleaning area until the longitudinal scan line is segmented or reaches the edge of the first space map; the cleaning robot 100 merges the areas scanned in the negative X-axis direction into one cleaning area until the longitudinal scan line is segmented or reaches the edge of the first space map. When the longitudinal scan line is segmented, the areas scanned in the same direction are merged into one clean area starting from the segmented scan line until the longitudinal scan line is segmented again and reaches the edge of the first area map. Fig. 43 is a schematic view of the cleaning robot 100 directly combining the cleaning regions scanned in the same direction as shown in fig. 42 to obtain a plurality of cleaning regions. Fig. 44 is a schematic view of a plurality of cleaning regions obtained by the cleaning robot 100 first setting a cleaning region in the adjacent range of the reference object and then combining the regions scanned in the same direction as shown in fig. 42 according to the above steps.

Step S4004: the cleaning robot 100 sets a node representing each cleaning area.

This step is the same as step S2304, and is not described again here.

Step S4005: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

This step is the same as step S2305, and is not described again here.

For example, for a plurality of cleaning areas shown in fig. 44, the cleaning robot 100 constructs a resultant communication map according to the communication relationship between the cleaning areas, which can be seen in fig. 45.

Step S4006: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

This step is the same as step S2306, and is not described again here.

Step S4007: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

For example, with respect to the connected graph shown in fig. 45, the cleaning robot 100 determines that the node indicating the cleaning region 3 is the top node, and the nodes indicating the

cleaning regions

1 and 2 are child nodes of the top node, and therefore, the cleaning order determined by the cleaning robot 100 is the cleaning region 1, the cleaning region 2, the cleaning region 3, or the cleaning region 2, the cleaning region 1, the cleaning region 3.

Step S4008: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S4009 when the area map is regular, or performs the cleaning in step S4003 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S4009: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S4010: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S4011: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S4008 to S4011 are the same as steps S2308 to S2311, respectively, and are not described herein again.

Example 5

Referring to fig. 46, in the embodiment of the present application, a room to be cleaned is taken as a room unit, the room unit is an irregular room unit, a cleaning robot 100 scans a first space map through a longitudinal scanning line, divides the space to be cleaned into at least one cleaning area, performs a ring removal process on a connected graph with rings to obtain an area sequence tree, sets a cleaning sequence according to the area sequence tree, and illustrates an example that no obstacle is encountered during a cleaning operation performed on the room unit, the method includes:

step S4601: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S4602: the cleaning robot 100 determines the first space map, and if the first space map is irregular, performs step S4603.

Step S4603: the cleaning robot 100 scans the first space map by a longitudinal scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region.

Step S4604: the cleaning robot 100 sets a node representing each cleaning area.

Step S4605: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Steps S4601 to S4605 are the same as steps S4001 to S4005, respectively, and are not described again here.

Step S4606: when there are multiple paths from a node in the connected graph, which is not the top node, to the top node, the cleaning robot 100 performs a ring removal process on the connected graph to obtain a region sequence tree.

Step S4606 is the same as step S3406, and is not described again here.

Step S4607: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S4608: the cleaning robot 100 selects a cleaning area in the cleaning order, judges an area map of the cleaning area, and performs the cleaning in step S4609 when the area map is regular, or performs the cleaning in step S4603 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S4609: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S4610: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S4611: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S4607 to S4611 are the same as steps S4007 to S4011, respectively, and are not described again here.

Example 6

Referring to fig. 47, in the embodiment of the present invention, a room to be cleaned is taken as a room unit, the room unit is an irregular room unit, the cleaning robot 100 scans a first space map through a horizontal scanning line and then scans the first space map through a vertical scanning line, divides the space to be cleaned into at least one cleaning area, directly uses a loop-free connection map as an area sequence tree, sets a cleaning sequence according to the area sequence tree, and explains an example where no obstacle is encountered during a cleaning operation performed on the room unit, the method includes:

Step S4701: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

This step is the same as step S2301, and is not described herein again.

For example, the first space map acquired by the cleaning robot 100 is the first space map shown in fig. 48.

Step S4702: the cleaning robot 100 determines the first space map, and when the first space map is irregular, performs step S4703.

This step is the same as step S2302 and is not described herein again.

Step S4703: based on the first space map, the cleaning robot 100 scans the first space map through the horizontal scanning line, and then scans the first space map through the vertical scanning line, so as to divide the space to be cleaned into at least one cleaning area.

In this step, the cleaning robot 100 first scans the first space map through the transverse scan line. The step of scanning the first space map by the cleaning robot 100 through the transverse scanning line is the same as the step of scanning the first space map by the cleaning robot 100 through the transverse scanning line in step S2303, and details thereof are not repeated.

After the cleaning robot 100 scans the first space map through the horizontal scanning line, the first space map may be scanned through the vertical scanning line. The step of scanning the first space map by the cleaning robot 100 through the longitudinal scanning line is the same as the step of scanning the first space map by the cleaning robot 100 through the longitudinal scanning line in step S4003, and details are not repeated here.

After the cleaning robot 100 scans the first space map by the transverse scanning line, continuous areas scanned in the same direction are merged with each other by using a position where a segment appears in a length of the transverse scanning line cut by the first space map and an edge of the first space map as a boundary, so as to obtain at least one cleaning area. After the cleaning robot 100 scans the first space map by the longitudinal scanning line, continuous areas scanned in the same direction are merged by using a position where a segment appears in a length of the longitudinal scanning line cut by the first space map, an edge of the first space map, and an intersection of two cleaning areas scanned by the transverse scanning line as a boundary line, so as to obtain at least one cleaning area.

The cleaning robot 100 scans through the transverse scan line first and then through the longitudinal scan line. When the first space map is the space map shown in fig. 48, the cleaning robot 100 scans the first space map by a transverse scanning line, and divides a plurality of cleaning areas into a cleaning area 1, a cleaning area 2, and a cleaning area 3, as shown in fig. 49; when the cleaning robot 100 scans the first space map shown in fig. 49 by the longitudinal scan lines, the finally divided cleaning areas are shown in fig. 50, and the cleaning areas in fig. 50 are cleaning area 1, cleaning area 2, cleaning area 3, cleaning area 4, and cleaning area 5, respectively.

Step S4704: the cleaning robot 100 sets a node representing each cleaning area.

Step S4705: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Step S4706: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

Step S4707: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S4708: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S4709 when the area map is regular, or performs the cleaning in step S4703 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S4709: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S4710: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S4711: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S4704 to S4711 are the same as steps S2304 to S2311, respectively, and are not described in detail herein.

Example 7

An embodiment of the present application provides a cleaning control method, referring to fig. 51, in which a room to be cleaned is taken as a room unit, the room unit is an irregular room unit, a cleaning robot 100 scans a first space map through a horizontal scanning line, scans the first space map through a vertical scanning line, divides the space to be cleaned into at least one cleaning area, performs a ring removal process on a connected graph with rings to obtain an area sequence tree, sets a cleaning order according to the area sequence tree, and illustrates an example that no obstacle is encountered during a cleaning operation performed on the room unit, the method includes:

step S5101: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S5102: the cleaning robot 100 determines the first space map, and if the first space map is irregular, performs step S5103.

Step S5103: based on the first space map, the cleaning robot 100 scans the first space map through the horizontal scanning line, and then scans the first space map through the vertical scanning line, so as to divide the space to be cleaned into at least one cleaning area.

Step S5104: the cleaning robot 100 sets a node representing each cleaning area.

Step S5105: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Steps S5101 to S5105 are the same as steps S4701 to S4705, respectively, and are not described in detail.

Step S5106: when there are multiple paths from a node in the connected graph, which is not the top node, to the top node, the cleaning robot 100 performs a ring removal process on the connected graph to obtain a region sequence tree.

Step S5107: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S5108: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S5109 when the area map is regular, or performs the cleaning in step S5103 when the area map is used as a first space map and the cleaning area is used as a space to be cleaned.

Step S5109: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S5110: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S5111: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S5106-S5111 are the same as steps S3406-S3411, respectively, and are not described herein again.

Example 8

Referring to fig. 52, in the embodiment of the present invention, a room to be cleaned is taken as a room unit, the room unit is an irregular room unit, the cleaning robot 100 scans a first space map through a longitudinal scanning line and then scans the first space map through a transverse scanning line, divides the space to be cleaned into at least one cleaning area, directly uses a loop-free connection map as an area sequence tree, sets a cleaning sequence according to the area sequence tree, and explains an example where no obstacle is encountered during a cleaning operation performed on the room unit, the method includes:

step S5201: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S5202: the cleaning robot 100 determines the first space map, and when the first space map is irregular, performs step S5203.

Step S5203: based on the first space map, the cleaning robot 100 scans the first space map through the longitudinal scanning line, and then scans the first space map through the transverse scanning line, so as to divide the space to be cleaned into at least one cleaning area.

The step of scanning the first space map by the cleaning robot 100 through the longitudinal scanning line in this step is the same as the step of scanning the first space map by the cleaning robot 100 through the longitudinal scanning line in step S4003, and details thereof are not repeated.

The step of the cleaning robot 100 scanning the first space map through the transverse scanning line in this step is the same as the step of the cleaning robot 100 scanning the first space map through the transverse scanning line in step S2303, and is not described again here.

After the cleaning robot 100 scans the first space map through the longitudinal scan line,

the successive areas scanned in the same direction are combined until the longitudinal scan lines are segmented or reach the edge of the room, resulting in at least one clean area. The cleaning robot 100 merges continuous areas scanned in the same direction with a position where a segment appears in a length of a longitudinal scanning line cut by the first space map and an edge of the first space map as a boundary line to obtain at least one cleaning area.

The cleaning robot 100 scans the first space map through the longitudinal scan line first and then scans through the transverse scan line. When the first space map is the space map shown in fig. 48, the cleaning robot 100 scans the first space map by the vertical scanning line, and the divided cleaning regions are shown in fig. 53. The cleaning areas in fig. 53 are cleaning area 1, cleaning area 2, cleaning area 3, cleaning area 4, and cleaning area 5, respectively; when the cleaning robot 100 scans the first space map shown in fig. 53 by the transverse scan line, the finally divided cleaning regions are shown in fig. 54, and in fig. 54, the cleaning regions are cleaning region 1, cleaning region 2, cleaning region 3, cleaning region 4, cleaning region 5, cleaning region 6, and cleaning region 7, respectively.

Step S5204: the cleaning robot 100 sets a node representing each cleaning area.

Step S5205: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Step S5206: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

Step S5207: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S5208: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs step S5209 for cleaning when the area map is regular, or performs step S5203 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S5209: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S5210: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S5211: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S5204 to S5211 are the same as steps S1404 to S1411, respectively, and are not described herein again.

Example 9

Referring to fig. 55, in the embodiment of the present invention, a room to be cleaned is taken as a room unit, the room unit is an irregular room unit, the cleaning robot 100 scans a first space map through a longitudinal scanning line and then scans the first space map through a transverse scanning line, divides the space to be cleaned into at least one cleaning region, performs a ring removal process on a connected graph with rings to obtain a region sequence tree, sets a cleaning sequence according to the region sequence tree, and explains an example where no obstacle is encountered during a cleaning operation performed on the room unit, the method includes:

step S5501: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S5502: the cleaning robot 100 determines the first space map, and if the first space map is irregular, performs step S5503.

Step S5503: based on the first space map, the cleaning robot 100 scans the first space map through the longitudinal scanning line, and then scans the first space map through the transverse scanning line, so as to divide the space to be cleaned into at least one cleaning area.

Step S5504: the cleaning robot 100 sets a node representing each cleaning area.

Step S5505: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Steps S5501-S5505 are the same as steps S5201-S5205, respectively, and are not repeated herein.

Step S5506: when there are multiple paths from a node in the connected graph, which is not the top node, to the top node, the cleaning robot 100 performs a ring removal process on the connected graph to obtain a region sequence tree.

Step S5507: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S5508: the cleaning robot 100 selects a cleaning area in a cleaning sequence, judges an area map of the cleaning area, and performs the cleaning in step S5509 when the area map is regular, or performs the cleaning in step S5503 when the area map is used as a first space map and the cleaning area is used as a space to be cleaned.

Step S5509: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S5510: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S5511: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S5506 to S5511 are the same as steps S3406 to S3411, respectively, and are not described herein again.

Example 10

Referring to fig. 56, in the embodiment of the present invention, a space to be cleaned is taken as a room unit, the room unit is an irregular room unit, and the cleaning robot 100 scans a first space map through a transverse scanning line to divide the space to be cleaned into at least one cleaning area; after encountering an obstacle in the process of cleaning an area to be cleaned, scanning a redetermined first space map through a longitudinal scanning line, redeploying the space to be cleaned into at least one cleaning area, directly taking an acyclic connected graph as an area sequence tree, and setting a cleaning sequence according to the area sequence tree for explanation, wherein the method comprises the following steps:

step S5601: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

For example, the first space map acquired by the cleaning robot 100 is the space map shown in fig. 24.

Step S5602: the cleaning robot 100 determines the first space map, and when the first space map is irregular, performs step S5603.

Step S5603: the cleaning robot 100 divides the space to be cleaned into at least one cleaning region by scanning the first space map through the transverse scan line based on the first space map.

Step S5604: the cleaning robot 100 sets a node representing each cleaning area.

Step S5605: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Step S5606: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

Step S5607: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S5608: the cleaning robot 100 selects a cleaning area in the cleaning order, judges an area map of the cleaning area, and performs step S5609 for cleaning when the area map is regular, or performs step S5603 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S5609: the cleaning robot 100 sets a cleaning direction to the cleaning area.

The cleaning robot 100, before encountering an obstacle, has the cleaning direction of the cleaning area represented by the top node and the reference direction, which is the direction pointing to the reference object. For any child node other than the top node, the cleaning robot 100 configures the cleaning direction of the cleaning area represented by the child node to point to the cleaning area represented by the parent node of the child node, and the cleaning direction of the cleaning area represented by the child node is parallel to the reference direction.

When the cleaning robot 100 encounters an obstacle, the cleaning robot 100 needs to subdivide the cleaning area, and the cleaning direction of the cleaning area indicated by the top node is not changed and remains the same as the reference direction. And for any child node that is not the top node, the cleaning direction of the cleaning region represented by the child node still points to the cleaning region represented by the parent node of the child node, but the cleaning direction of the cleaning region represented by the child node is perpendicular to the reference direction.

It should be noted that the cleaning direction is reset according to the above method every time the cleaning robot 100 divides the cleaning area again.

Step S5610: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S5611: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S5601-S5611 are the same as steps S2301-S2311, respectively, and are not described herein again.

Step S5612: when the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, the cleaning robot 100 acquires a second space map of an uncleaned area in the space to be cleaned, and takes the second space map as the first space map.

When the cleaning robot 100 encounters an obstacle during a cleaning operation, it first moves around the obstacle while the cleaning member cleans the floor, thereby cleaning the floor around the obstacle. Since the cleaning robot 100 often does not include information about obstacles in the first space map acquired in step S5601, the cleaning robot 100 may detect obstacles by using a sensor provided in the cleaning robot 100 during the cleaning process, and may detect information about obstacles comprehensively, particularly after the obstacles are surrounded. The information of the obstacle mainly includes a crossing distance, a coverage area, and the like of the obstacle.

When an obstacle encountered by the cleaning robot 100 crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold, the cleaning robot 100 determines a second space map based on the first space map, the covered area of the obstacle and the cleaned cleaning area, and takes the second space map as the first space map, wherein the second space map is a space map corresponding to the covered area of the space to be cleaned from which the obstacle is removed and the uncleaned area after the cleaned cleaning area, and the cleaning robot 100 takes the second space map as the first space map.

Step S5613: the cleaning robot 100 scans the first space map through the longitudinal scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region.

In this step, the cleaning robot 100 re-divides the cleaning area based on the first space map. When the cleaning robot 100 re-divides the cleaning region, the transverse scan lines and the longitudinal scan lines are alternately used. The scan line used by the cleaning robot 100 in step S5613 is different from the scan line used by the cleaning robot 100 in step S5603. In the embodiment of the present application, the cleaning robot 100 scans the first space map through the horizontal scan line in step S5603, and when the cleaning robot 100 encounters an obstacle and newly divides the cleaning region in step S5612, the cleaning robot 100 scans the first space map through the vertical scan line. When the cleaning robot 100 again encounters an obstacle during the cleaning operation, the cleaning robot 100 scans the re-determined first space map through the transverse scan line. Accordingly, the cleaning robot 100 may perform division of the cleaning region one or more times when cleaning the space to be cleaned.

When the first space map is the space map shown in fig. 24, the cleaning robot 100 scans the first space map by the transverse scan line to obtain the cleaning area shown in fig. 27, and then the cleaning robot 100 performs the cleaning operation on the cleaning area shown in fig. 27. When the cleaning robot 100 encounters an obstacle during the cleaning operation performed on the cleaning area 2, the cleaning robot 100 determines a second space map of an uncleaned area in the space to be cleaned, see fig. 57, which the cleaning robot 100 uses as the first space map, see fig. 58, the first space map shown in fig. 58 being determined by the cleaning robot 100 according to the space map shown in fig. 57. The cleaning robot 100 scans the first space map shown in fig. 58 by the longitudinal scan line, see fig. 59.

After the cleaning robot 100 scans the first space map by the longitudinal scanning line, the areas scanned in the same direction can be directly combined to obtain a plurality of cleaning areas; or the cleaning robot 100 sets a cleaning area in front of the reference object, one end of the cleaning area is connected with the reference object, the other end of the cleaning area reaches the edge of the first space map, then the cleaning robot 100 takes the position where the longitudinal scanning line is segmented by the length of the first space map and the edge of the first space map as boundary lines, and combines the areas scanned along the same direction to obtain a plurality of cleaning areas. Referring to fig. 60, fig. 60 is a schematic view of a plurality of cleaning regions combined in the same direction by the cleaning robot 100 directly scanning the longitudinal scan line shown in fig. 59 on the first space map. Referring to fig. 61, fig. 61 is a schematic view illustrating that the cleaning robot 100 first sets a cleaning region in front of a door and then combines regions scanned in the same direction to obtain a plurality of cleaning regions.

After the cleaning robot 100 repartitions the cleaning area, a cleaning direction is reset for the cleaning area obtained by repartitioning, the cleaning direction is the same as the reference direction for the cleaning area represented by the top node, for any child node other than the top node, the cleaning direction of the cleaning area represented by the child node points to the cleaning area represented by the parent node of the child node, and the cleaning direction of the cleaning area represented by the child node is perpendicular to the reference direction.

For example, for the plurality of cleaning regions shown in fig. 61, the cleaning region 3 is a cleaning region represented by a top node, the cleaning direction of which is vertically downward; while cleaning

zones

1 and 2 are the cleaning zones represented by the child nodes of the top node, both of which have their cleaning directions pointing towards cleaning zone 3, see fig. 62.

In the embodiment of the present application, if the cleaning robot 100 does not subdivide the cleaning area, since the layout of the cleaning area spanned by the obstacles is likely to be changed after the cleaning robot 100 cleans the floor around the obstacles, resulting in cleaning oscillation, the cleaning robot 100 turns back and forth to clean, and the cleaned cleaning area is polluted, resulting in low cleaning efficiency, the cleaning robot 100 needs to subdivide the cleaning area after each obstacle.

In order to facilitate understanding of the necessity that the cleaning robot 100 subdivides the cleaning region when the cleaning robot 100 encounters an obstacle whose crossing distance is greater than the first threshold value, the embodiment of the present application also describes a case where the cleaning robot 100 does not subdivide the cleaning region when it encounters an obstacle.

Referring to fig. 63, fig. 63 is a spatial map corresponding to an uncleaned area after removing a covered area of the obstacle and a cleaned clean area shown in fig. 57, the spatial map including a clean area 1 and a clean area 2, the clean area 2 being divided into two parts by the obstacle: part M1 and part M2, part N was generated in clean area 1. The generation of part M1, part M2, and part N may cause cleaning oscillations to occur, contaminating the cleaned cleaning area.

If the cleaning robot 100 does not subdivide the cleaning area, for example, when the cleaning robot 100 needs to return to the base station to charge or wash the cleaning member during the cleaning operation performed on the portion M2 in the cleaning area 2 by the cleaning robot 100, after the cleaning robot 100 returns from the base station, the original setting rules are: for a cleaning area, the cleaning robot 100 moves along a zigzag trajectory to perform cleaning from deep to shallow in a direction perpendicular to the cleaning direction. The cleaning direction of the cleaning region 2 is directed to the cleaning region 1, and is parallel to the reference direction. The cleaning robot 100 performs a cleaning operation on the cleaning region 2, and moves along a zigzag track which is gradually advanced from deep to shallow in the cleaning direction and is folded back and forth in a direction perpendicular to the cleaning direction. Before the cleaning robot 100 moves to the base station, since the cleaning robot 100 has performed partial area cleaning on the portion M2, and thus the cleaning robot 100 returns from the base station, the cleaning region 2 moves along the zigzag track, at the portion M1 at the deepest position perpendicular to the cleaning direction, so that the cleaning robot 100 reselects the cleaning start point, goes to the portion M1 of the cleaning region 2 first, and performs cleaning along the zigzag track, perpendicular to the cleaning direction, and thus, the cleaning robot 100 may perform cleaning alternately between the portion M1 and the portion M2, generating cleaning oscillation, and the cleaning efficiency is low. Or the cleaning robot 100 first cleans the section M2, then moves to the section M1 for cleaning, and then the cleaning robot 100 moves to the section N for cleaning, and the cleaning robot 100 turns back and forth, which also causes cleaning oscillation and low cleaning efficiency.

In addition, with respect to the cleaning area 1, the cleaning robot 100 may also generate cleaning oscillations between the portion N and other cleaning areas in the cleaning area 1 except the portion N. When the cleaning robot 100 finishes cleaning the portion N, the cleaning robot 100 needs to move back to avoid an obstacle or a wall, so as to clean other cleaning areas except the portion N in the cleaning area 1, which may pass through the cleaned cleaning area, and the dirty cleaning member contaminates the cleaned cleaning area.

Therefore, in the embodiment of the present application, as long as the obstacle encountered by the cleaning robot 100 crosses at least two cleaning areas and the crossing distance is greater than the first threshold value, the cleaning robot 100 divides the cleaning area once again. In which the horizontal scan lines and the vertical scan lines are used alternately, the cleaning direction may be changed due to the change of the scan line direction. Accordingly, the cleaning robot 100 may perform division of the cleaning region one or more times when cleaning the space to be cleaned.

In summary, when the cleaning robot 100 encounters an obstacle during the cleaning operation, but the crossing distance of the obstacle is not greater than the first threshold value, the cleaning robot 100 continues to perform the cleaning operation in the cleaning direction and the cleaning order; when the cleaning robot 100 encounters an obstacle and the crossing distance of the obstacle is greater than the first threshold, the cleaning robot 100 needs to re-divide the cleaning area, re-set the cleaning direction, the cleaning start point, and the cleaning sequence based on the re-divided cleaning area, and perform a cleaning operation on the cleaning area of the cleaning space to be cleaned in the re-divided cleaning direction and the re-divided cleaning sequence from the re-divided cleaning start point in units of the re-divided cleaning area.

Step S5614: the cleaning robot 100 performs step S5604 based on the at least one cleaning region.

In this step, the cleaning robot 100 performs step S5604 to reset nodes representing each cleaning region based on the at least one cleaning region newly divided, which is not described herein again.

Example 11

Referring to fig. 64, in the embodiment of the present invention, a space to be cleaned is taken as a room unit, the room unit is an irregular room unit, and the cleaning robot 100 scans a first space map through a transverse scanning line to divide the space to be cleaned into at least one cleaning area; after encountering an obstacle in the process of cleaning an area to be cleaned, scanning a redetermined first space map by a longitudinal scanning line, reduplicating the space to be cleaned into at least one cleaning area, performing ring removal treatment on a connected graph with rings to obtain an area sequence tree, and setting a cleaning sequence as an example according to the area sequence tree for explanation, wherein the method comprises the following steps of:

step S6401: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S6402: the cleaning robot 100 determines the first space map, and when the first space map is irregular, performs step S6403.

Step S6403: the cleaning robot 100 divides the space to be cleaned into at least one cleaning region by scanning the first space map through the transverse scan line based on the first space map.

Step S6404: the cleaning robot 100 sets a node representing each cleaning area.

Step S6405: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Step S6406: when there are multiple paths from a node in the connected graph, which is not the top node, to the top node, the cleaning robot 100 performs a ring removal process on the connected graph to obtain a region sequence tree.

Step S6407: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S6408: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S6409 when the area map is regular, or performs the cleaning in step S6403 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S6409: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S6410: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S6411: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S6401-S6411 are the same as steps S3401-S3411, respectively, and are not described herein again.

Step S6412: when the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, the cleaning robot 100 acquires a second space map of an uncleaned area in the space to be cleaned, and takes the second space map as the first space map.

Step S6413: the cleaning robot 100 scans the first space map through the longitudinal scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region.

Step S6414: the cleaning robot 100 performs step S6404 based on the at least one cleaning region.

Steps S6412-S6414 are the same as steps S5612-S5614, respectively, and are not repeated herein.

Example 12

Referring to fig. 65, in the embodiment of the present invention, a space to be cleaned is taken as a room unit, the room unit is an irregular room unit, and the cleaning robot 100 scans a first space map through a longitudinal scanning line to divide the space to be cleaned into at least one cleaning area; after encountering an obstacle in the process of cleaning an area to be cleaned, scanning a redetermined first space map through a transverse scanning line, redividing the area to be cleaned into at least one cleaning area, directly taking an acyclic connected graph as an area sequence tree, and setting a cleaning sequence according to the area sequence tree for explanation, wherein the cleaning sequence comprises the following steps:

step S6501: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

For example, the first space map acquired by the cleaning robot 100 is the space map shown in fig. 66.

This step is the same as step S2301, and is not described herein again.

Step S6502: the cleaning robot 100 determines the first space map, and performs step S6503 when the first space map is irregular.

This step is the same as step S4002, and is not described again here.

Step S6503: the cleaning robot 100 scans the first space map by a longitudinal scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region.

For example, when the first space map acquired by the cleaning robot 100 is the space map shown in fig. 66, at least one cleaning region dividing the space to be cleaned after the cleaning robot 100 scans the first space map by the longitudinal scan line may be referred to in fig. 67.

The rest of the steps are the same as step S4003, and are not described in detail here.

Step S6504: the cleaning robot 100 sets a node representing each cleaning area.

This step is the same as step S4004, and is not described again here.

Step S6505: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

For example, for the cleaning areas shown in fig. 67, the cleaning robot 100 can obtain a communication map according to the communication relationship between the cleaning areas, as can be seen in fig. 68.

The rest of the steps are the same as step S4005, and are not described in detail here.

Step S6506: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

This step is the same as step S4006, and is not described again here.

Step S6507: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

For example, when the communication graph obtained by the cleaning robot 100 is the communication graph shown in fig. 68, the cleaning robot 100 determines that the node indicating the cleaning region 3 is a top node, and the node indicating the cleaning region 2 and the node indicating the cleaning region 4 are child nodes of the top node, where the node indicating the cleaning region 1 is a child node of the node indicating the cleaning region 2 and the node indicating the cleaning region 5 is a child node of the node indicating the cleaning region 4. Therefore, the cleaning robot 100 determines the cleaning order to be the cleaning area 5, the cleaning area 4, the cleaning area 1, the cleaning area 2, the cleaning area 3; or cleaning area 1, cleaning area 2, cleaning area 5, cleaning area 4, cleaning area 3.

The rest of the steps are the same as step S4007, and are not described in detail here.

Step S6508: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S6509 when the area map is regular, or performs the cleaning in step S6503 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S6509: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S6510: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S6511: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S6508-S6511 are the same as steps S4008-S4011, respectively, and are not described herein again.

Step S6512: when the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, the cleaning robot 100 acquires a second space map of an uncleaned area in the space to be cleaned, and takes the second space map as the first space map.

For example, when the cleaning robot 100 encounters an obstacle during the cleaning operation performed on the plurality of cleaning areas shown in fig. 67, and the obstacle crosses the cleaning area 4 and the cleaning area 5, and the crossing distance of the obstacle is greater than the first threshold value, see fig. 69, the cleaning robot 100 acquires a second space map of the uncleaned area, and takes the second space map as the first space map, see fig. 70.

Step S6512 is the same as step S5612, and is not described herein again.

Step S6513: the cleaning robot 100 scans the first space map by the transverse scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region.

For example, for the space map shown in fig. 70, the cleaning robot 100 scans through the transverse scan lines, and the resulting plurality of cleaning areas can be seen in fig. 71.

The remaining steps are the same as the step of the cleaning robot 100 scanning the first space map through the transverse scan line in step S2303, and are not described again here.

Step S6514: the cleaning robot 100 performs step S6504 based on the at least one cleaning region.

Step S6514 is the same as step S5614, and is not described herein again.

Example 13

Referring to fig. 72, in the embodiment of the present invention, a space to be cleaned is taken as a room unit, the room unit is an irregular room unit, and the cleaning robot 100 scans a first space map through a longitudinal scanning line to re-divide the space to be cleaned into at least one cleaning region; after encountering an obstacle in the process of cleaning an area to be cleaned, scanning a first redefined space map through a transverse scanning line, subdividing the space to be cleaned into at least one cleaning area, performing ring removal processing on a connected graph with rings to obtain an area sequence tree, and setting a cleaning sequence as an example according to the area sequence tree for explanation, wherein the method comprises the following steps of:

step S7201: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S7202: the cleaning robot 100 determines the first space map, and performs step S7203 when the first space map is irregular.

Step S7203: the cleaning robot 100 scans the first space map by a longitudinal scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region.

Step S7204: the cleaning robot 100 sets a node representing each cleaning area.

Step S7205: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Step S7206: when there are multiple paths from a node in the connected graph, which is not the top node, to the top node, the cleaning robot 100 performs a ring removal process on the connected graph to obtain a region sequence tree.

Step S7207: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S7208: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S7209 when the area map is regular, or performs the cleaning in step S7203 with the area map as a first space map and the cleaning area as a space to be cleaned.

Step S7209: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S7210: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S7211: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S7201 to S7211 are the same as steps S4601 to S4611, respectively, and are not described again here.

Step S7212: when the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, the cleaning robot 100 acquires a second space map of an uncleaned area in the space to be cleaned, and takes the second space map as the first space map.

Step S7213: the cleaning robot 100 scans the first space map by the transverse scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region.

Step S7214: the cleaning robot 100 performs step S7204 based on the at least one cleaning region.

Steps S7212 to S7214 are the same as steps S6512 to S6514, respectively, and are not described again.

Example 14

An embodiment of the present application provides a cleaning control method, and referring to fig. 73, in the embodiment of the present application, a space to be cleaned is taken as a plurality of room units, each of the room units is a regular room unit, the cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to room information in a first space map, and directly takes a loop-free connected graph as an area sequence tree, and a cleaning sequence is set according to the area sequence tree for explanation, and the method includes:

step S7301: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

For example, the first space map acquired by the cleaning robot 100 is the space map shown in fig. 74, and the space map includes a plurality of room units, namely, room unit 1 to room unit 8, where every two room units are communicated with each other through a door.

This step is the same as step S2301, and is not described herein again.

Step S7302: the cleaning robot 100 determines the first space map, and performs step S7309 to clean the space or the subspace to be cleaned as the cleaning region when the first space map is regular, or performs step S7303 otherwise.

Step S7302 is the same as step S2302 and is not described herein again.

Step S7303: the cleaning robot 100 divides the space to be cleaned into at least one cleaning region according to the room information in the first space map based on the first space map.

The room information includes information of the number of room units, the area size of the room units, the door position of each room unit, the edge of each room unit, and the communication relationship between the room units. The cleaning robot 100 may enter and exit the room unit through a door of the room unit and may also enter other room units through doors of the room unit.

In this step, the space to be cleaned includes a plurality of room units. The cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to the number of room units in the first space map, one room unit being one cleaning area. For example, the first space map acquired by the cleaning robot 100 is a map shown in fig. 74, and the first space map includes 8 room units, where the room unit in which the base station is located is room unit 1. The cleaning robot 100 divides the space to be cleaned into 8 cleaning areas, one room unit being one cleaning area, according to the room information of the 8 room units in the first space map.

Step S7304: the cleaning robot 100 sets a node representing each cleaning area.

This step is the same as step 2304 and will not be described herein again.

Step S7305: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

For example, for the plurality of room units shown in fig. 74, the cleaning robot 100 may construct a communication map of the cleaning areas according to the communication relationship between the cleaning areas, as can be seen in fig. 75.

The remaining steps are the same as step S2305, and are not described herein again.

Step S7306: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

This step is the same as step S2306, and is not described again here.

Step S7307: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

For example, when the area sequence tree is the connected graph shown in fig. 75, the cleaning order in which the cleaning robot 100 obtains the plurality of cleaning areas is: room unit 5, room unit 6, room unit 4, room unit 3, room unit 7, room unit 8, room unit 2, and finally room unit 1 where the base station is located.

Step S7308: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S7309 when the area map is regular.

For example, when the cleaning regions divided by the cleaning robot 100 are the cleaning regions shown in fig. 74, the cleaning robot 100 may determine the region map of each cleaning region using a door communicating between two adjacent cleaning regions as a reference, determine the region map rule corresponding to each cleaning region shown in fig. 74, and perform step S7309 to perform cleaning.

The remaining steps are the same as step S1408 and are not described herein again.

In step S7309, the cleaning robot 100 sets a cleaning direction for the cleaning region.

For example, the cleaning robot 100 sets a cleaning direction for each room unit shown in fig. 74 based on the communication diagram shown in fig. 75. Referring to fig. 76, since the node representing the room unit 5 is a child node of the node representing the room unit 6, the cleaning direction of the room unit 5 is directed to the room unit 6; the node representing room unit 6, the node representing room unit 4, the node representing room unit 3, and the node representing room unit 7 are all child nodes of the node representing room unit 8, and therefore, the cleaning direction of room unit 6, the cleaning direction of room unit 4, the cleaning direction of room unit 3, and the cleaning direction of room unit 7 are all directed to room unit 8; the node representing the room unit 8 and the node representing the room unit 2 are child nodes of the node representing the room unit 1, and therefore, the cleaning direction of the room unit 8 and the cleaning direction of the room unit 2 are both directed to the room unit 1; the room unit 1 has a base station therein, which can be used as a reference and a direction vertically pointing to the base station as a reference direction, and the node indicating the room unit 1 is a top node, and the cleaning direction of the top node is the same as the reference direction, so that the cleaning direction of the room unit 1 is a direction vertically pointing to the base station.

In step S7310, the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

This step is the same as step S2310, and is not described herein again.

In step S7311, the cleaning robot 100 performs a cleaning operation on the cleaning area of the space to be cleaned in the cleaning direction and the cleaning order from the cleaning start point in units of the cleaning area.

This step is the same as step S2311, and is not described herein again.

Example 15

An embodiment of the present application provides a cleaning control method, referring to fig. 77, in the embodiment of the present application, a space to be cleaned is taken as a plurality of room units, each room unit in the plurality of room units is a regular room unit, the cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to room information in a first space map, an area sequence tree is obtained after a looping-off process is performed on a looped connection diagram, and a cleaning sequence is set as an example according to the area sequence tree for description, the method includes:

step S7701: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

For example, the first space map acquired by the cleaning robot 100 is the space map shown in fig. 78, which is similar to the space map shown in fig. 74 and has 8 room units, except that one more door is provided between the room unit 3 and the room unit 4, and the rest of the room units are the same.

The remaining steps are the same as step S2301, and are not described herein again.

Step S7702: the cleaning robot 100 determines the first space map, and performs step S7709 to clean the space to be cleaned as a cleaning area when the first space map is regular, or performs step S7703.

Step S7703: the cleaning robot 100 divides the space to be cleaned into at least one cleaning region according to the room information in the first space map based on the first space map.

Step S7704: the cleaning robot 100 sets a node representing each cleaning area.

Steps S7702-S7704 are identical to steps S7302-S7304, respectively, and are not described herein.

Step S7705: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

For example, for the plurality of room units, i.e., the plurality of cleaning areas, shown in fig. 78, the cleaning robot 100 constructs a connected graph as can be seen in fig. 79.

The remaining steps are the same as step S7305 and are not described again.

Step S7706: when there are multiple paths from a node in the connected graph, which is not the top node, to the top node, the cleaning robot 100 performs a ring removal process on the connected graph to obtain a region sequence tree.

For example, when the communication diagram obtained by the cleaning robot 100 is the communication diagram shown in fig. 79, the cleaning robot 100 performs a ring removal process on the communication diagram to obtain a ring-free communication diagram, and the ring-free communication diagram is used as the region order tree. The cleaning robot 100 performs the ring removal processing on the ring-shaped communication diagram shown in fig. 79, and the obtained ringless communication diagram is the same as that shown in fig. 75.

The rest of the steps are the same as step S3406, and are not described herein again.

Step S7707: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S7708: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the cleaning in step S7709 when the area map is regular.

In step S7709, the cleaning robot 100 sets a cleaning direction for the cleaning area.

In step S7710, the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

In step S7711, the cleaning robot 100 performs a cleaning operation on the cleaning area of the space to be cleaned in the cleaning direction and the cleaning order from the cleaning start point in units of the cleaning area.

Steps S7707-S7711 are the same as steps S7307-S7311, respectively, and are not described herein again.

Example 16

Referring to fig. 80, in the embodiment of the present application, a space to be cleaned is taken as a plurality of room units, irregular room units exist in the plurality of room units, the cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to room information in a first space map, when an area map irregularity corresponding to one or more cleaning areas exists in the divided cleaning areas, the cleaning robot 100 takes the cleaning area as the space to be cleaned, takes the area map as the first space map, scans the first space map through a scanning line, divides the space to be cleaned into at least one cleaning area, directly takes an acyclic connected graph as an area sequence tree, and sets a cleaning sequence as an example according to the area sequence tree, and the method includes:

step S8001: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S8002: the cleaning robot 100 judges the first space map, and performs step S8009 to clean the space to be cleaned or the subspace to be cleaned as the cleaning region when the first space map is regular, or performs step S8003 otherwise.

Step S8003: the cleaning robot 100 divides the space to be cleaned into at least one cleaning region according to the room information in the first space map based on the first space map.

Step S8004: the cleaning robot 100 sets a node representing each cleaning area.

Step S8005: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Step S8006: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

Step S8007: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Steps S8001-S8007 are identical to steps S7301-S7307, respectively, and are not described herein again.

Step S8008: the cleaning robot 100 selects a cleaning area in a cleaning order, determines an area map of the cleaning area, and performs step S8009 to clean when the area map is regular, or otherwise, takes the area map as a first space map, takes the cleaning area as a space to be cleaned, scans the first space map through a scan line, divides the space to be cleaned into at least one cleaning area, and performs step S8004.

In this step, for any cleaning area, when the area map rule corresponding to the cleaning area is used, step S8009 is directly executed to perform cleaning; when the area map corresponding to the cleaning area is irregular, the cleaning robot 100 takes the area map as the first space map and the cleaning area as the space to be cleaned. The cleaning robot 100 may scan the first space map through a horizontal scanning line, or scan the first space map through a vertical scanning line, or scan the first space map through the horizontal scanning line first and then scan the first space map through the vertical scanning line, or scan the first space map through the vertical scanning line first and then scan the first space map through the horizontal scanning line. In the embodiments of the present application, this is not particularly limited.

The step of scanning the first space map by the cleaning robot 100 through the horizontal scanning line is the same as step S2303, and is not described herein again. The step of the cleaning robot 100 scanning the first space map by the longitudinal scan line and the step S4003 are not described in detail herein. The step of scanning the first space map by the cleaning robot 100 through the horizontal scanning line and then scanning the first space map by the vertical scanning line is the same as the step S4703, and is not described herein again. The step of scanning the first space map by the longitudinal scanning line and then scanning the first space map by the transverse scanning line by the cleaning robot 100 is the same as the step S5203, and is not described herein again.

Step S8009: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S8010: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S8011: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S7309-S7311 are the same as steps S2309-S2311, respectively, and are not described herein again.

In the embodiment of the present application, when the cleaning robot 100 encounters an obstacle during the cleaning operation, and when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, the cleaning robot 100 acquires a second space map of an uncleaned area in the space to be cleaned, and takes the second space map as the first space map. The cleaning robot 100 scans the first space map through the scan line based on the first space map, and divides the space to be cleaned into at least one cleaning region. The cleaning robot 100 performs step S8004 based on the at least one cleaning region.

In this case, the cleaning robot 100 uses a different scanning line from the scanning line used in step S8008 after encountering an obstacle. For example, in step S8008, when the area map is irregular, the cleaning robot 100 may scan the first space map through the vertical scanning line after the cleaning robot 100 encounters an obstacle, taking the area map as the first space map, and scanning the first space map through the horizontal scanning line. When the cleaning robot 100 scans the first space map through the longitudinal scan line in step S8008, the cleaning robot 100 may scan the first space map through the lateral scan line after encountering an obstacle. In the embodiments of the present application, this is not particularly limited.

Example 17

An embodiment of the present application provides a cleaning control method, referring to fig. 81, in which a space to be cleaned is taken as a plurality of room units, irregular room units are provided in the plurality of room units, a cleaning robot 100 divides the space to be cleaned into at least one cleaning area according to room information in a first space map, when an area map irregularity corresponding to one or more cleaning areas exists in the divided cleaning areas, the cleaning robot 100 takes the cleaning area as the space to be cleaned, takes the area map as the first space map, scans the first space map through a scanning line, divides the space to be cleaned into at least one cleaning area, performs a ring removal process on a connected graph with rings to obtain an area sequence tree, and sets a cleaning sequence as an example according to the area sequence tree, and the method includes:

Step S8101: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

Step S8102: the cleaning robot 100 determines the first space map, and performs step S8109 to clean the space to be cleaned or the subspace to be cleaned as a cleaning region when the first space map is regular, or performs step S8103 otherwise.

Step S8103: the cleaning robot 100 divides the space to be cleaned into at least one cleaning region according to the room information in the first space map based on the first space map.

Step S8104: the cleaning robot 100 sets a node representing each cleaning area.

Step S8105: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Steps S8101 to S8105 are the same as steps S8001 to S8005, respectively, and are not described herein again.

Step S8106: when there are multiple paths from a node in the connected graph, which is not the top node, to the top node, the cleaning robot 100 performs a ring removal process on the connected graph to obtain a region sequence tree.

Step S8107: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Steps S8106-S8107 are the same as steps S3406-S3407, respectively, and are not described herein again.

Step S8108: the cleaning robot 100 selects a cleaning area according to a cleaning sequence, judges an area map of the cleaning area, and performs step S8109 to clean when the area map is regular, or else, scans the first space map by scanning lines with the area map as the first space map and the cleaning area as the space to be cleaned, and performs step S8104.

Step S8109: the cleaning robot 100 sets a cleaning direction to the cleaning area.

Step S8110: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S8111: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S8108 to S8111 are the same as steps S8008 to S8011, respectively, and are not described herein again.

Example 18

Referring to fig. 82, in the embodiment of the present application, a space to be cleaned is taken as a room area formed by a plurality of room units, a cleaning robot 100 scans a first space map through a scanning line, divides the space to be cleaned into at least one cleaning area, directly uses a loop-free connected graph as an area sequence tree, and sets a cleaning sequence according to the area sequence tree as an example to describe the method, which includes:

step S8201: the cleaning robot 100 acquires a map of a space to be cleaned as a first space map.

For example, the first spatial map acquired by the cleaning robot 100 is a map shown in fig. 83, which is a room area composed of the room unit 1 and the room unit 2 in the map shown in fig. 84.

The remaining steps are the same as step 2301 and are not described herein again.

Step S8202: the cleaning robot 100 judges the first space map, and performs the step S8209 for cleaning the space to be cleaned or the subspace to be cleaned as the cleaning region when the first space map is regular, or performs the step S8203 otherwise.

This step is the same as step 2302 and will not be described herein.

Step S8203: the cleaning robot 100 scans the first space map through a scan line based on the first space map, and divides a space to be cleaned into at least one cleaning region.

In this step, the cleaning robot 100 may scan the first space map through the transverse scanning line, or scan the first space map through the longitudinal scanning line, or scan the first space map through the transverse scanning line first, and then scan the first space map through the longitudinal scanning line, or scan the first space map through the longitudinal scanning line first, and then scan the first space map through the transverse scanning line. In the embodiments of the present application, this is not particularly limited.

When the first space map acquired by the cleaning robot 100 is the map shown in fig. 83, the cleaning robot scans the first space map by the transverse scanning line, and the obtained plurality of cleaning areas can be referred to fig. 85.

Step S8204: the cleaning robot 100 sets a node representing each cleaning area.

Step S8205: the cleaning robot 100 constructs a communication map of the cleaning regions according to the communication relationship between the cleaning regions.

Step S8206: when there is only one path from any node in the connected graph other than the top node to the top node, the cleaning robot 100 regards the connected graph as a region order tree.

Step S8207: the cleaning robot 100 sets a cleaning order of the plurality of cleaning areas based on the area sequence tree.

Step S8208: the cleaning robot 100 selects a cleaning area in the cleaning order, determines an area map of the cleaning area, and performs the step S8209 for cleaning when the area map is regular, or performs the step S8203 with the area map as a first space map and the cleaning area as a space to be cleaned.

Steps S8204-S8208 are the same as steps S2304-S2308, respectively, and are not described herein again.

Step S8209: the cleaning robot 100 sets a cleaning direction to the cleaning area.

For example, the cleaning direction set by the cleaning robot 100 for the cleaning area shown in fig. 85 can be seen in fig. 86.

The remaining steps are the same as step S2309, and are not described herein again.

Step S8210: the cleaning robot 100 sets a cleaning start point for the cleaning area based on the cleaning direction.

Step S8211: the cleaning robot 100 performs a cleaning operation on a cleaning area of a space to be cleaned in a cleaning direction and a cleaning order from a cleaning start point in units of the cleaning area.

Steps S8210-S8211 are the same as steps S2310-S2311, respectively, and are not described herein again.

An embodiment of the present application provides a cleaning control device, referring to fig. 87, which is implemented when a cleaning robot 100 cleans an unknown space to be cleaned, and is used in cooperation with a base station, the base station is a cleaning device used by the cleaning robot 100, and the space to be cleaned is provided with an access opening, and the cleaning control device includes:

a first obtaining module 8701, configured to obtain a map of a space to be cleaned as a first space map, where the first space map is used to represent the space to be cleaned or a subspace to be cleaned in the space to be cleaned, and the subspace to be cleaned is an uncleaned area in the space to be cleaned;

the dividing module 8702 is used for dividing the space to be cleaned into at least one cleaning area based on the first space map, and an access is arranged between two adjacent and communicated cleaning areas;

a first setting module 8703 for setting a cleaning sequence for the cleaning areas such that the passage of other already cleaned cleaning areas is not allowed in the path of the entrance of any one of the cleaning areas to the reference in the cleaning sequence;

an executing module 8704 for sequentially executing cleaning operations on the cleaning areas of the space to be cleaned in the cleaning sequence by taking the cleaning areas as units.

In one possible implementation, the apparatus further includes:

the judging module is used for judging the first space map, when the first space map is in a rule, the space to be cleaned or the subspace to be cleaned is used as a cleaning area, the cleaning direction and the cleaning starting point are set for the cleaning area, the cleaning operation is executed on the cleaning area of the space to be cleaned, otherwise, the space to be cleaned is divided into at least one cleaning area based on the first space map, and the definition of the first space map rule is as follows: at least one path exists from any point in the first space map to the reference object, the moving path which does not tend to the opposite direction of the reference direction in the path is met, the reference object is a base station or an entrance, the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting line area from the point to the reference object does not pass through the obstacle.

In another possible implementation manner, the executing module 8704 is configured to set a cleaning direction for the cleaning area, where the cleaning direction is a reference direction; setting a cleaning starting point for the cleaning area based on the cleaning direction, wherein the cleaning starting point is a point on the edge opposite to the cleaning direction in the edge of the cleaning area; the cleaning operation is performed on the cleaning area of the space to be cleaned in the cleaning direction and the cleaning order from the cleaning start point in units of the cleaning area.

In another possible implementation manner, the apparatus further includes:

the cleaning system comprises a selection module, a cleaning module and a cleaning module, wherein the selection module is used for selecting a cleaning area according to a cleaning sequence, judging an area map of the cleaning area, setting a cleaning direction for the cleaning area when the area map is regulated, and otherwise, taking the area map as a first space map, taking the cleaning area as a space to be cleaned, dividing the space to be cleaned into at least one cleaning area based on the first space map, and defining the area map regulation as follows: at least one path exists from any point in the regional map to the entrance and the exit, and the moving path which does not tend to the direction opposite to the direction of the entrance and the exit in the paths is satisfied.

In another possible implementation manner, the apparatus further includes:

and the moving module is used for moving from the cleaning area to the next cleaning area based on the navigation path for moving from the cleaning area to the next cleaning area after the cleaning operation is performed on one cleaning area.

In another possible implementation manner, the dividing module 8702 is further configured to divide the space to be cleaned according to the room information in the first space map to obtain at least one cleaning area.

In another possible implementation manner, the apparatus further includes:

The second setting module is used for setting a right-angle reference coordinate system by taking the reference object as an origin, and comprises an X axis and a Y axis, wherein the reference direction is vertical to the X axis and is the positive direction of the Y axis;

a dividing module 8702 further configured to scan the first space map through a transverse scan line at the position of the reference object, the transverse scan line being perpendicular to the reference direction; if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the Y axis, advancing a transverse scanning line along the positive direction of the Y axis to scan the adjacent and unscanned area; if the scanned area in the first space map has an adjacent and unscanned area in the Y-axis negative direction, advancing the transverse scanning line along the Y-axis negative direction to scan the adjacent and unscanned area; and combining continuous areas scanned in the same direction by taking the position where the segment appears in the length of the transverse scanning line cut by the first space map and the edge of the first space map as boundary lines, thereby dividing the space to be cleaned into at least one cleaning area.

In another possible implementation manner, the apparatus further includes:

the third setting module is also used for setting a right-angle reference coordinate system by taking the reference object as an origin, and comprises an X axis and a Y axis, wherein the reference direction is vertical to the X axis and is the positive direction of the Y axis;

A dividing module 8702 further configured to scan the first space map through a longitudinal scan line at the position of the reference object, the longitudinal scan line being parallel to the reference direction; if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the X axis, advancing the longitudinal scanning line to scan the adjacent and unscanned area along the positive direction of the X axis; if the scanned area in the first space map has an adjacent and unscanned area in the negative direction of the X axis, advancing the longitudinal scanning line along the negative direction of the X axis to scan the adjacent and unscanned area; and combining continuous areas scanned in the same direction by taking the position where the longitudinal scanning line is sectioned by the first space map and the edge of the first space map as boundary lines, thereby dividing the space to be cleaned into at least one cleaning area.

In another possible implementation manner, the apparatus further includes:

the fourth setting module is used for setting a right-angle reference coordinate system by taking the reference object as an origin, and comprises an X axis and a Y axis, wherein the reference direction is vertical to the X axis and is the positive direction of the Y axis;

the dividing module 8702 is further configured to scan the first space map through a horizontal scanning line and a vertical scanning line at the position of the reference object, where the horizontal scanning line is perpendicular to the reference direction and the vertical scanning line is parallel to the reference direction; if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the Y axis, advancing a transverse scanning line along the positive direction of the Y axis to scan the adjacent and unscanned area; if the scanned area in the first space map has an adjacent and unscanned area in the Y-axis negative direction, advancing the transverse scanning line along the Y-axis negative direction to scan the adjacent and unscanned area; if the scanned area in the first space map has an adjacent and unscanned area in the positive direction of the X axis, advancing the longitudinal scanning line to scan the adjacent and unscanned area along the positive direction of the X axis; if the scanned area in the first space map has an adjacent and unscanned area in the negative direction of the X axis, advancing the longitudinal scanning line along the negative direction of the X axis to scan the adjacent and unscanned area; the positions of the horizontal scanning lines and the vertical scanning lines which are segmented by the length of the first space map and the edge of the first space map are used as boundary lines, and the areas scanned along the same direction are combined, so that the space to be cleaned is divided into at least one cleaning area.

In another possible implementation manner, the apparatus further includes:

and the merging module is used for merging the cleaning area with other adjacent cleaning areas with the areas larger than the preset numerical value when the area of the cleaning area is smaller than the preset numerical value.

In another possible implementation, the merging module is further configured to merge the cleaning area into a cleaning area scanned by the scan lines advancing in the same direction.

In another possible implementation manner, the first setting module 8703 is further configured to establish a region sequence tree based on the cleaning region, where the region sequence tree includes at least one node, each node represents a cleaning region in the space to be cleaned, a node is connected to the at least one node, the node includes a top node, a parent node and a child node, the two connected nodes are connected, a node close to the top node is the parent node, a node far from the top node is the child node, the cleaning region represented by the parent node is adjacent to the cleaning region represented by the child node, or one node in the father node and the child node represents an isolated clean area, the other node represents a clean area closest to the isolated clean area, the clean area represented by the top node is a clean area where the reference object is located, and only one path is formed from any node in the area sequence tree, which is not the top node, to the top node; based on the region order tree, a cleaning order of the plurality of cleaning regions is set.

In another possible implementation, the first setting module 8703 is further configured to set a node representing each cleaning area; according to the communication relation between the cleaning areas, when the cleaning areas represented by any two nodes are adjacent, or one node represents an isolated cleaning area and the other node represents the cleaning area closest to the isolated cleaning area, connecting the two nodes to construct a communication graph of the cleaning areas; and establishing a region sequence tree according to the connected graph.

In another possible implementation manner, the first setting module 8703 is further configured to, when there is only one path from any node in the connected graph that is not the top node to the top node, use the connected graph as a region sequence tree; when a plurality of paths are formed from nodes with non-top nodes to the top nodes in the connected graph, the connected graph is subjected to ring removal processing to obtain an area sequence tree, the ring is an annular path formed by sequentially connecting at least three nodes, and the ring enables the nodes with the non-top nodes in the connected graph to have the plurality of paths from the top nodes.

In another possible implementation, the first setting module 8703 is further configured to determine a first target cleaning region based on the region order tree; based on the region sequence tree, inquiring a father node of a first target node representing a first target clean region, inquiring whether the father node of the first target node has a child node representing a non-first target clean region, if not, taking the clean region represented by the father node of the first target node as a second target clean region, and if so, taking the clean region represented by the bottommost node in the child nodes as a second target clean region; based on the area sequence tree, inquiring a father node of a second target node representing a second target clean area, inquiring whether the father node of the second target node has child nodes representing non-first target clean areas and non-second target clean areas, if not, taking the clean area represented by the father node of the second target node as a third target clean area, and if so, taking the clean area represented by the bottommost node in the child nodes as the third target clean area; the third target cleaning zone in the zone sequence tree is queried until the cleaning zone represented by the top node is set as the last target cleaning zone.

In another possible implementation, the first setting module 8703 is further configured to determine, in the first spatial map, a first cleaning area closest to the current first position of the cleaning robot 100; determining whether leaf nodes exist in a target sub-tree or not by taking a first clean area as an initial node based on the area sequence tree, wherein the target sub-tree is a local area sequence tree which takes the initial node as a top node in the area sequence tree, and the leaf nodes are nodes of which father nodes and no son nodes exist in the area sequence tree; when leaf nodes exist in the target subtree, selecting a leaf node from the leaf nodes of the target subtree, and taking a cleaning area represented by the selected leaf node as a first target cleaning area;

In another possible implementation, the executing module 8704 is further configured to search, based on the area map, for a first unclean point closest to a current first position of the cleaning robot 100 in the cleaning area, search, in the cleaning area, for a second unclean point of the cleaning area in a direction opposite to the cleaning direction within a preset length range perpendicular to the cleaning direction, where the second unclean point is the farthest unclean point from the first unclean point in the cleaning direction, and determine a cleaning start point of the cleaning area based on the second unclean point; or, based on the area map, scanning in a reverse direction of the cleaning direction in a form of a scan line from a current first position of the cleaning robot 100 within the cleaning area to search for a first uncleaned point within the cleaning area, the scan line being perpendicular to the cleaning direction, the first uncleaned point being the uncleaned point farthest from the first position in the cleaning direction, and determining a cleaning start point of the cleaning area based on the first uncleaned point; or, based on the area map, in the cleaning area, with the entrance edge of the cleaning area as the start position of the cleaning robot 100, searching for a first uncleaned point of the cleaning area in a direction opposite to the cleaning direction, the first uncleaned point being the uncleaned point farthest from the start position of the cleaning area in the cleaning direction, and determining a cleaning start point of the cleaning area based on the first uncleaned point; alternatively, a first uncleaned point closest to the current first position of the cleaning robot 100 is searched for within the cleaning area based on the area map, and a cleaning start point of the cleaning area is determined based on the first uncleaned point.

In another possible implementation, the module 8704 is further configured to use the first unclean point as a cleaning starting point of the cleaning area; or when the first uncleaned point is located on the edge, moving to the end point of the edge, and taking the end point of the edge as the cleaning starting point of the cleaning area.

In another possible implementation manner, the apparatus further includes:

the second acquisition module is used for acquiring a second space map of an uncleaned area in the space to be cleaned when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value in the process of executing cleaning operation, taking the second space map as a first space map, and dividing the space to be cleaned into at least one cleaning area based on the first space map.

In another possible implementation, the cleaning robot 100 is provided with a cleaning member for performing a cleaning operation on a floor surface;

the space to be cleaned is a room unit.

The embodiment of the present application also provides a computer-readable storage medium, which is applied to the cleaning robot 100, and the computer-readable storage medium stores at least one instruction, at least one program, a code set, or a set of instructions, and the instruction, the program, the code set, or the set of instructions is loaded and executed by a processor to implement the operation performed by the cleaning robot 100 in the cleaning control method of the foregoing embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only for facilitating the technical solution of the present application to be understood by those skilled in the art, and is not intended to control the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning control method is applied to a cleaning robot to clean an unknown space to be cleaned, the cleaning robot is matched with a base station for use, the base station is a cleaning device used by the cleaning robot, the space to be cleaned is provided with an entrance and an exit, and the cleaning control method is characterized in that,

The cleaning control method includes:

step S3: setting a cleaning sequence for the cleaning areas, wherein the cleaning sequence satisfies that other cleaned cleaning areas are not allowed to pass through in a path that a passageway of any one cleaning area reaches a reference object in the cleaning sequence, and the reference object is the base station or the passageway;

step S4: sequentially performing a cleaning operation on the cleaning regions of the space to be cleaned in the cleaning order by taking the cleaning regions as units;

when an obstacle is encountered during the cleaning operation, when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, acquiring a second space map of an uncleaned area in the space to be cleaned, taking the second space map as the first space map, and executing the step S2: dividing the space to be cleaned into at least one cleaning area based on the first space map.

2. The method according to claim 1, wherein before the step S2, the method further comprises:

step S5: judging the first space map, and when the first space map is in a rule, taking the space to be cleaned or the subspace to be cleaned as a cleaning area, and executing step S6: setting a cleaning direction and a cleaning starting point for the cleaning area, performing a cleaning operation for the cleaning area of the space to be cleaned, otherwise performing step S2, the first space map rule being defined as: at least one path exists from any point in the first space map to the reference object, the moving path in the path without the opposite direction tending to the reference direction is satisfied, the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting line area from the point to the reference object does not pass through an obstacle.

3. The method according to claim 1, wherein the step S4: a method of sequentially performing a cleaning operation on a cleaning region of the space to be cleaned in the cleaning order in units of the cleaning region, comprising:

Step S41: setting a cleaning direction for the cleaning area, wherein the cleaning direction is a reference direction, the reference direction is a direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and a connecting area between the point and the reference object does not pass through an obstacle;

4. The method according to claim 3, wherein before the step S41, the method further comprises:

5. The method according to any one of claims 1-4, further comprising:

6. The method according to any one of claims 1 to 4, wherein the step S2: the method for dividing the space to be cleaned into at least one cleaning area comprises the following steps:

7. The method according to claim 2, wherein before the step S2, the method further comprises:

8. The method according to claim 2, wherein before the step S2, the method further comprises:

9. The method according to claim 2, wherein before the step S2, the method further comprises:

10. The method according to any one of claims 7-9, wherein before the step S3, the method further comprises:

11. The method of claim 10, wherein the step of merging the cleaning zone with other adjacent cleaning zones having an area greater than the predetermined value comprises:

merging the cleaning areas into a cleaning area scanned by scan lines advancing in the same direction, the scan lines being transverse scan lines and/or longitudinal scan lines.

12. The method according to any one of claims 1 to 4 or 11, wherein the step S3: a method of setting a cleaning sequence for the cleaning zone, comprising:

13. The method according to claim 12, wherein the step S301: a method of building a zone sequence tree based on the clean zones, comprising:

Step S3011: setting a node representing each of the cleaning areas;

14. The method according to claim 13, wherein the step S3013: the method for establishing the region sequence tree according to the connected graph comprises the following steps:

15. The method according to claim 12, wherein the step S302: a method of setting a cleaning order for a plurality of cleaning zones based on the zone sequence tree, comprising:

16. The method according to claim 15, wherein the step S3021: a method of determining a first target cleaning zone based on the zone sequence tree, comprising:

17. The method according to claim 16, wherein the cleaning direction of the cleaning region represented by the top node is the same as a reference direction, the cleaning direction of the cleaning region represented by the child node is directed to the cleaning region represented by the parent node of the child node for any child node other than the top node in the region order tree, and the cleaning direction of the cleaning region represented by the child node is parallel or perpendicular to the reference direction, the reference direction is a direction in which any point in the space to be cleaned or the subspace to be cleaned is directed to the reference object, and a connecting region between the point and the reference object does not pass through an obstacle.

18. The method according to claim 3, wherein the step S42 is a method for setting a cleaning start point for the cleaning area, comprising:

19. The method of claim 18, wherein the method of determining a cleaning start point for the cleaning zone based on the first uncleaned spot comprises:

20. The method according to any one of claims 1 to 4 or 11 or 13 to 19,

the cleaning robot is provided with a cleaning piece, and the cleaning piece is used for cleaning the ground by the cleaning robot;

the space to be cleaned is a room unit.

21. A cleaning control device is applied to cleaning an unknown space to be cleaned and is matched with a base station for use, the base station is a cleaning device used by a cleaning robot, the space to be cleaned is provided with an access,

the device comprises:

a first setting module, configured to set a cleaning sequence for the cleaning areas, where the cleaning sequence satisfies that no other cleaning areas that have been cleaned are allowed to pass through in a path in which an entrance and an exit of any one of the cleaning areas reach a reference object, where the reference object is the base station or the entrance and the exit;

the execution module is used for sequentially executing cleaning operation on the cleaning areas of the space to be cleaned according to the cleaning sequence by taking the cleaning areas as units; when an obstacle is encountered during the cleaning operation, when the obstacle crosses at least two cleaning areas and the crossing distance of the obstacle is greater than a first threshold value, acquiring a second space map of an uncleaned area in the space to be cleaned, taking the second space map as the first space map, and executing the step S2: dividing the space to be cleaned into at least one cleaning area based on the first space map.

22. The apparatus of claim 21, further comprising:

A judging module, configured to judge the first space map, when the first space map rule is satisfied, use the space to be cleaned or the subspace to be cleaned as a cleaning area, set a cleaning direction and a cleaning starting point for the cleaning area, and perform a cleaning operation on the cleaning area of the space to be cleaned, otherwise, divide the space to be cleaned into at least one cleaning area based on the first space map, where the first space map rule is defined as: at least one path exists from any point in the first space map to the reference object, the moving path in the path without the opposite direction tending to the reference direction is satisfied, the reference direction is the direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and the connecting line area from the point to the reference object does not pass through an obstacle.

23. The apparatus according to claim 21, wherein the executing module is further configured to set a cleaning direction for the cleaning area, the cleaning direction is a reference direction, the reference direction is a direction in which any point in the space to be cleaned or the subspace to be cleaned points to the reference object, and a connecting area between the point and the reference object does not pass through an obstacle; setting a cleaning starting point for the cleaning area based on the cleaning direction, wherein the cleaning starting point is a point on an edge opposite to the cleaning direction in the edge of the cleaning area; and performing a cleaning operation on the cleaning area of the space to be cleaned in the cleaning direction and the cleaning sequence from the cleaning start point in units of the cleaning area.

24. The apparatus of claim 23, further comprising:

25. The apparatus of any one of claims 21-24, further comprising:

26. The apparatus according to any one of claims 21 to 24, wherein the dividing module is further configured to divide the space to be cleaned according to the room information in the first space map to obtain the at least one cleaning area.

27. The apparatus of claim 22, further comprising:

28. The apparatus of claim 22, further comprising:

29. The apparatus of claim 22, further comprising:

30. The apparatus of any one of claims 27-29, further comprising:

31. The apparatus of claim 30, wherein the merging module is further configured to merge the cleaning area into a cleaning area scanned by scan lines advancing in the same direction, the scan lines being transverse scan lines and/or longitudinal scan lines.

32. The apparatus according to any one of claims 21-24 or 31, wherein the first setting module is further configured to establish a region sequence tree based on the cleaning regions, the region sequence tree includes at least one node, each node represents a cleaning region in the space to be cleaned, a node is connected to the at least one node, the node includes a top node, a parent node and a child node, the two connected nodes are connected, a node near the top node is the parent node, a node far from the top node is the child node, the cleaning region represented by the parent node is adjacent to the cleaning region represented by the child node, or one of the parent node and the child node represents an isolated cleaning region, the other node represents a cleaning region closest to the isolated cleaning region, and the cleaning region represented by the top node is the cleaning region where the reference object is located, only one path is formed from any node of the regional sequence tree, which is not the top node, to the top node; setting a cleaning order of the plurality of cleaning regions based on the region order tree.

33. The apparatus of claim 32, wherein the first setting module is further configured to set a node representing each of the cleaning zones; according to the communication relation between the cleaning areas, when the cleaning areas represented by any two nodes are adjacent, or one node represents an isolated cleaning area and the other node represents a cleaning area closest to the isolated cleaning area, connecting the two nodes to construct a communication graph of the cleaning areas; and establishing the region sequence tree according to the connected graph.

34. The apparatus of claim 33, wherein the first setting module is further configured to treat the connected graph as the regional order tree when there is only one path from any node in the connected graph that is not a top node to the top node; and when a plurality of paths are formed from the nodes with the non-top nodes in the connected graph to the top nodes, performing ring removal processing on the connected graph to obtain the region sequence tree, wherein the ring is an annular path formed by sequentially connecting at least three nodes, and the ring enables the nodes with the non-top nodes in the connected graph to have the plurality of paths from the top nodes.

35. The apparatus of claim 32, wherein the first setting module is further configured to determine a first target cleaning zone based on the zone sequence tree; based on the area sequence tree, inquiring a father node of a first target node representing the first target clean area, inquiring whether the father node of the first target node has a child node representing a non-first target clean area, if not, taking the clean area represented by the father node of the first target node as a second target clean area, and if so, taking the clean area represented by the bottommost node in the child nodes as a second target clean area; inquiring a parent node of a second target node representing the second target clean area based on the area sequence tree, inquiring whether the parent node of the second target node has a child node representing the non-first target clean area and the non-second target clean area, if not, taking the clean area represented by the parent node of the second target node as a third target clean area, and if so, taking the clean area represented by the bottommost node in the child nodes as the third target clean area; querying the third target cleaning zone in the zone sequence tree until the cleaning zone represented by the top node is set as the last target cleaning zone.

36. The apparatus of claim 35, wherein the first setting module is further configured to determine a first cleaning area closest to a current first position of the cleaning robot in the first spatial map; determining whether leaf nodes exist in a target sub-tree based on the regional sequential tree and taking the first clean region as a starting node, wherein the target sub-tree is a local regional sequential tree in the regional sequential tree and taking the starting node as a top node, and the leaf nodes are nodes with father nodes and no son nodes in the regional sequential tree; when a leaf node exists in the target subtree, selecting a leaf node from the leaf nodes of the target subtree, and taking a cleaning area represented by the selected leaf node as the first target cleaning area;

37. The apparatus according to claim 36, wherein the cleaning direction of the cleaning region represented by the top node is the same as a reference direction, the cleaning direction of the cleaning region represented by the child node is directed to the cleaning region represented by the parent node of the child node for any child node other than the top node in the region sequence tree, and the cleaning direction of the cleaning region represented by the child node is parallel or perpendicular to the reference direction, the reference direction is a direction in which any point in the space to be cleaned or the subspace to be cleaned is directed to the reference object, and a connecting region between the point and the reference object does not pass through an obstacle.

38. The apparatus of claim 23, wherein the execution module is further configured to search for a first uncleaned point closest to a current first position of the cleaning robot within the cleaning area based on the area map, search for a second uncleaned point of the cleaning area in a reverse direction of the cleaning direction within a preset length range perpendicular to the cleaning direction within the cleaning area, the second uncleaned point being a farthest uncleaned point from the first uncleaned point in the cleaning direction, and determine a cleaning start point of the cleaning area based on the second uncleaned point; or, based on the area map, scanning in a reverse direction of the cleaning direction in the cleaning area from a current first position of the cleaning robot in the form of a scanning line to search for a first uncleaned point within the cleaning area, the scanning line being perpendicular to the cleaning direction, the first uncleaned point being the uncleaned point farthest from the first position in the cleaning direction, and determining a cleaning start point of the cleaning area based on the first uncleaned point; or, based on the area map, searching for a first uncleaned point of the cleaning area in a reverse direction of the cleaning direction within the cleaning area with an entrance edge of the cleaning area as a start position of the cleaning robot, the first uncleaned point being an uncleaned point farthest from the start position of the cleaning area in the cleaning direction, and determining a cleaning start point of the cleaning area based on the first uncleaned point; or, based on the area map, searching out a first uncleaned point closest to a current first position of the cleaning robot in the cleaning area, and determining a cleaning starting point of the cleaning area based on the first uncleaned point.

39. The apparatus of claim 38, wherein the execution module is further configured to use the first uncleaned spot as a cleaning start point of the cleaning area; or when an uncleaned point exists on the edge where the first uncleaned point is located, moving to the end point of the edge, and taking the end point of the edge as the cleaning starting point of the cleaning area.

40. The apparatus of any one of claims 21-24 or 31 or 33-39,

the cleaning robot is provided with a cleaning piece, and the cleaning piece is used for performing cleaning operation on the ground;

the space to be cleaned is a room unit.

41. A cleaning robot, characterized in that the cleaning robot comprises:

one or more processors and one or more memories having stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by the one or more processors to implement the operations performed in the cleaning control method of any of claims 1-20.

42. A computer-readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to carry out the operations performed in the cleaning control method of any one of claims 1-20.